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THEME: ROBOT
MANIPULATOR
NAME: AKHTAR-UN-NISA
ROLL#: 20 ME-MECH 08
ASSIGNED BY: DR. SAIFULLAH SAMO
DATE: 10-02-2020
DAY: MONDAY
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 Table Of Contents

• What?
• Where?
• Who?
• Whom?
• Which?
• How?
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 WHAT IS?
1. Robot Manipulator: a device that can change any material without physical contact
by operator.
2. Industrial Dual Arm Robot Manipulator: Existing industrial robot manipulator
has one arm, so unable to do jobs as the human operator does with their two
dexterous arms. Therefore, industry tends to develop Dual Arm Robot Manipulator.
3. Human-Robot hybrid manufacturing system: A new system that human and
robot works together besides each other to enhance the productivity of the factory.

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 WHERE?
1. Yaskawa Co. Ltd: showed new robot,
DA5, DA10, DA20, they have two arms
of which degrees of freedom is 7 per arm.
It may be the first commercialized
industrial dual arm robot manipulator and
it can be applied to the relatively
sophisticated works like mechanical part
handling and assembly.

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 WHERE?
2. Kawada: showed a new dual arm robot
which is able to handle some light weight
parts and to cooperate another dual arm
robot manipulator to give or exchange some
light weight parts.

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 WHERE?
3. Recently, ABB: introduced a concept
robot, FRIDA(Friendly Robot for
Industrial Dual-Arm), which has been
developed for cooperating with the human
operator and sharing the work place with
them. Which aimed to be used in the
human-robot hybrid manufacturing.

ABB: ASEA Brown Boveri (Swedish multinational cooperation Head quarter

in Switzerland
 WHERE?
4. Latest work: Human-Robot Hybrid
Manufacturing
1. Department of Robotics and
Mechatronics, Korea.
2. Institute of Machinery and Materials,
Daejeon, Korea.

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 WHO?

1. Chanhun Park
2. Jin Ho Kyung
3. Tae-Yong Choi
4. Hyun Min Do
5. Byung-In Kim
6. Sung-Hui Lee

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 FOR WHOM?

• Hybrid manufacturing system works for human beings, as the robots

share the work place with the human operator, for which most
important is Safety which needs following things.
the robot has to be light weight structure.
Must controlled to prevent the human worker from being damaged.

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 WHICH?

• It  works on two types of parameters.

• 1. Kinematic parameter: which includes 9 parameters including shoulder
horizontal adduction, internal rotation shoulder, shoulder abduction, horizontal pelvis
& upper torso rotation, finger flexion, wrist flexion, elbow flexion, trunk tilt forward
& knee flexion and trunk tilt sideways.
• 2. D-H parameter: It includes four parameters (a, d, α, associated with a
particular convention for attaching reference frames to the links of a spatial
kinematic chain or robot manipulator.
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1. Kinematic Parameter Of The Developed Dual
Arm Robot Manipulator

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2. D-H Parameter Of The Dual Arm Robot
Manipulator

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 HOW IT WORKS?

• The developed manipulator has the actuation module having ability to sense the
collision with the human worker and is light weighted.
• It weights 14kg per arms. Its payload is 5kg per arm. Each arm has 7 degree of
freedom per arm.
• In its structure the matter is deflection.
• The limited stiffness of the harmonic drive and the joint torque sensor makes the
joint actuator is rotationally deformed when the actuator generates joint torque.
• The rotational deformation of the joint torque sensor is essential to measure the
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exact rotational motion, theoretically.
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