A self-reconfigurable dual-arm system

An approach to a self-reconfigurable manipulator system which dynamically changes its topology according to given task requirements is presented. The proposed self-reconfiguration differs from that of conventional reconfigurable robots, in that it does not need to replace and reassemble modularized links to build a robot of desirable mechanical structure, but it customizes a multiple redundant manipulator system by reconfiguring its mechanical structure through serial, parallel, and bracing mechanisms of multiple arm cooperation. The authors present a methodology of generating serial, parallel, and bracing structures for a self-reconfigurable dual-arm system based on manipulabilities and resistivities. Such manipulabilities and resistivities quantify the efficiency and capability of a self-reconfigurable dual-arm system in generating the Cartesian motion and static force, thereby providing information essential to customizing a dual-arm topology suitable for a given task. An example is presented