Design and analysis of the dual arm manipulator for rescue robot

摘要

Previous dual arm manipulators have been developed to follow dual arm tasks of human and to be a substitute for human in the indoor field. Nowadays, it is necessary for a robot to perform various tasks such as search and rescue in the battle field and disaster field. In the paper, a dual arm manipulator which is mounted on the mobile robot is proposed for rescue activity. The kinematic configuration is determined to satisfy the representative poses for rescue activity in the battle field. Kinematic parameters and dynamic parameters of the dual arm manipulator are investigated through the dynamic simulation on the various conditions. The performance of the manufactured dual-arm manipulator is proved through the experiments.