The Effect of Base Position on Maximum Allowable Load of Dual Arm Robots

A new computational technique is presented to find the optimal base position of dual arm robots inorder to carry maximum allowable load. The maximum allowable load on a desired trajectory islimited by the number of factors such as; actuators torque limits, kinematic constraints, and kinematicredundancy of cooperative manipulators. For a dual arm robot mounted on a rail or table, loadworkspace (LWS) is introduced as the unionof places where the base can locate and robots carry a loadon a desired trajectory. It is possible to increase the maximum allowable load by replacing the base ofthe arms robots in the LWS. By dividing the LWS into grid points, the base position of the railmounted dual arm robot considered at each point. Using the Newton-Euler formulation and appropriateprocedure, maximum allowable load of the robots in all points of the LWS are computed. Then, byiteration, a smaller subspace near to optimum base position is selected until maximum allowable loadand corresponding base position is found with acceptable precision. Finally, the application of theproposed algorithm is presented and verifiedfor two different cases.