Experimental Studies on Design of a Dual Arm Manipulator with Hydraulic System for Disaster Accidents

摘要

This paper presents the design of ARMstrong for heavy-duty work in disaster accidents. The ARMstrong robot is a dual-arm manipulator actuated by hydraulic systems and has been designed by following the structure of the human arm for easy manipulation and direct operation. The kinematics and workspace of ARMstrong are also analyzed here. The hydraulic actuators are designed to handle heavy objects, and the height of the robot varies from a minimum of 0.9 m to a maximum of 1.7 m, with a weight of about 300 kg. Experimental studies were conducted on lifting payloads to confirm that the robot could handle a payload of 100 kg.