Enhancing Payload Capacity With Dual-Arm Manipulation and Adaptable Mechanical Intelligence

Abstract Individual manipulators are limited by their vertical total load capacity. This places a fundamental limit on the weight of loads that single manipulator can move. Cooperative manipulation with two arms has potential to increase net capacity overall system. However, it is critical proper sharing takes place between arms. In this work, we outline method utilizes mechanical intelligence in form whiffletree. system enables robust position deviations The whiffletree pneumatic tool changers which enable autonomous attachment/detachment. We design for dual-arm manipulation. also illustrate how type greatly simplify cooperative control. Lastly, use physical experiments enhanced Specifically, show UR5 re-position 7 kg load. would exceed arm, and average forces each arm remain below level relatively evenly distributed.