Optimal design and fabrication of frame structure for dual-arm service robots: An effective approach for human–robot interaction

Thanh Nguyen Canh

Son Tran Duc

Huong Nguyen The

Trang Huyen Dao

Xiem HoangVan

VNU University of Engineering and Technology, Vietnam
Engineering Science and Technology, an International Journal, 2024.

[Paper]

Rapid advancement in robotics technology has paved the way for developing mobile service robots capable of human interaction and assistance. In this paper, we propose a comprehensive approach to design, fabricate, and optimize the overall structure of a dual-arm service robot. The conceptual design phase focuses on both critical components, the mobile platform and the manipulation system, essential for seamless navigation and effective task execution. In the proposed system, the distribution of the robot payload in terms of region, maximum stress, and displacement is examined, comprehensively analyzed, and compared with the relevant works. In addition, to enhance the system’s efficiency while minimizing its weight, we introduce a lightweight design approach in which Finite Element Analysis is utilized to optimize the frame structure. Subsequently, we fabricate a physical prototype based on the derived model. Finally, we provide a kinematic model for our dual-arm service robot and demonstrate its efficacy in both control and human–robot interaction (HRI) tasks. Experimental results indicate that the proposed dual arm design can achieve a significant weight reduction of 25% from the original design while still performing actions smoothly for HRI tasks.

Paper

Thanh Nguyen Canh, Son Duc Tran, Huong Nguyen The, Trang Huyen Dao, Xiem HoangVan

Optimal design and fabrication of frame structure for dual-arm service robots: An effective approach for human–robot interaction

Engineering Science and Technology, an International Journal 2024.

[pdf]

Overview and Results

Simulate the assembly and disassembly process of the mobile service robot frame structure.

Experiment with dual arm moving while avoiding obstacles and object picking.

Experimental on human-robot interaction.

Citation

1. Canh T. N., Duc S. T., The, H. N., Dao T. H., HoangVan X., Optimal design and fabrication of frame structure for dual-arm service robots: An effective approach for human–robot interaction. Engineering Science and Technology, an International Journal, 2024.

@article{canh2024optimal, 
                                  

                                    author    = {Canh, Thanh Nguyen and Duc, Son Tran and The, Huong Nguyen and Dao, Trang Huyen and HoangVan, Xiem}, 
                                  

                                    title     = {{Optimal design and fabrication of frame structure for dual-arm service robots: An effective approach for human–robot interaction}}, 
                                  

                                  journal     = {Engineering Science and Technology, an International Journal}, 
                                  

                                    year      = {2024}, 
                                  

                                    volumne   = {56}, 
                                  

                                    pages     = {101763}, 
                                  

                                    DOI       = {10.1016/j.jestch.2024.101763}
                                  

                                }

Acknowledgements

Thanh Nguyen Canh was funded by the Master, PhD Scholarship Programmer of Vingroup Innovation Foundation (VINIF), code VINIF.2023.ThS.120.
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