A Study on the Performance Analysis of the Dual-Arm Robot for the Assembly Task
Keywords:
Dual-arm robot, Robotic assembly, Manipulability analysis, Performance analysis, Kinematic configurationAbstract
Recently, interest in a dual-arm robot that can replace humans is increasing to improve the working environment and solve the labor shortage. Various studies related to the design and analysis of dual-arm robots have been conducted because dual-arm robots can have various kinematic configurations according to the objective task. It is necessary to evaluate the work performance according to various kinematic structures of the dual arm robot to maximize its effectiveness. In the paper, the performance analysis is studied according to the shoulder configuration and the wrist configuration of the dual-arm robot by using main performance indices such as manipulability, condition number, and minimum singular value by assigning proper weight values to each objective motion. Performance analysis for the robotic assembly process is effectively carried out for each representative dual-arm robot configuration.
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