A Dual-Arm Rotational Robotic Manipulator with a Dynamically-Driven Non-Actuated Joint for Smart Aquaculture

摘要

This paper presents the design, dynamic modeling, and experimental validation of a dual-arm robotic manipulator with a dynamically-driven non-actuated joint for smart aquaculture applications. The system features a central rotating link with symmetric prismatic end-effectors, enabling coordinated motion with minimal actuation. A multibody dynamic model captures the interaction between actuated and passive joints, and simulations reveal both symmetric and asymmetric behaviors of the passive articulation under various end-effector trajectories. A physical prototype confirms the model's predictions, demonstrating passive angle responses consistent with dynamic expectations. This validates the proposed mechanism as a structurally efficient solution for repetitive feeding tasks in aquaculture environments.