In the last years some industrial robots have been realized with two robot arms connected to a single rotating platform. Such a redundant structure allows moving the platform to adjust each robot base for optimizing each arm movement. In this paper, a planar model of two 7-axis robots connected to a rotating platform is proposed, and a novel analytical optimization procedure, retrieved from a geometrical analysis, is presented.

Analytical Movement Optimization of Dual-Arm Planar Robots with Rotating Platform

Bottin M.;Rosati G.;Boschetti G.
2021

Abstract

In the last years some industrial robots have been realized with two robot arms connected to a single rotating platform. Such a redundant structure allows moving the platform to adjust each robot base for optimizing each arm movement. In this paper, a planar model of two 7-axis robots connected to a rotating platform is proposed, and a novel analytical optimization procedure, retrieved from a geometrical analysis, is presented.
Mechanisms and Machine Science
978-3-030-75270-5
978-3-030-75271-2
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Utilizza questo identificativo per citare o creare un link a questo documento: http://hdl.handle.net/11577/3399811
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