Abstract:

This thesis is aimed to design a compact industrial robot arm and then extend the one arm to two arms so that the robot can safely interact with human beings. It is divided into two parts. The first part is to design an 8-axis manipulator by using the dual-axis modularized actuator (DAMA) system. This special designed mechanism of the 8-axis robot arm makes it folded on itself like a small-sized rectangular box, which is convenient for storing and carrying. The 8-axis robot arm is not only good for factory use but also good for humanoid application. This kind of 8-axis robot is the only design of the robot in the world.

The second part of this thesis extends the one robot arm to two robot arms and uses impedance control to realize two-arm coordination control. We establish the 6-axis force sensors, which can measure the interaction force between the arm and the object, in the wrists of the two humanoid robot arms. When an external force acts on the object or on the arms, the arms can move compliantly with the direction in which the external force acts, and simultaneously stably holds the object so that the safety human-robot interaction can be achieved.

Applying this design concept and two-arm coordination control to the environment in which humans live, the robot is shown to safely interact with human beings.