Design and Implementation of Service Robot Lightweight Dual-Arm Based on CAN Bus

Xian Hua Li; Shuai Guo

doi:10.4028/www.scientific.net/AMR.538-541.3021

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Design and Implementation of Service Robot Lightweight Dual-Arm Based on CAN Bus

Abstract:

Because high positioning accuracy of industrial robots requires high stiffness at the price of high robot mass and energy consumption relative to the payload of the robot, this paper describes a kind of service robot dual-arm constructed by lightweight reconfigurable modules. After analyzing the composition characteristics of service robot dual-arm, the type selection of robot arm modules is accomplished, and the hardware platform of robot dual-arm composed by modular joint is builded. According to the modularization characteristics of arm joints, the distributed control system is designed.