The cooperative dual-arm cam-lock manipulators

Abstract

Recent developments in the area of smart structures indicate that variable geometry/stiffness truss network is of fundamental importance in designing smart transformable structures and systems. This paper presents the conceptual designs and dynamics modeling of a cooperative dual-arm robotics structure, called the dual-arm cam-lock manipulator. The manipulator is capable of performing a wide variety of tasks by automatically re-configuring itself to form a variable geometry, stiffness, and workspace robotics structure. Hence, it may also be referred to as a variable geometry robot manipulator.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>