Wheeled dual-arm robot manipulator: design and integration
Niemi, Tatu (2025)
2025
Automaatiotekniikan DI-ohjelma - Master's Programme in Automation Engineering
Tekniikan ja luonnontieteiden tiedekunta - Faculty of Engineering and Natural Sciences
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Hyväksymispäivämäärä
2025-01-22
Julkaisun pysyvä osoite on
https://urn.fi/URN:NBN:fi:tuni-202501221616
https://urn.fi/URN:NBN:fi:tuni-202501221616
Tiivistelmä
This thesis focuses on the design and integration of a wheeled dual-arm robotic manipulator, combining a mobile platform, dual robotic arms, and state-of-the-art technologies such as artificial intelligence (AI) and autonomous navigation. The research addresses the unique challenges associated with developing a modular and functional system that integrates mobility, dexterity, perception, and interaction capabilities.
The robot design, based on the MiR200 mobile platform and UR5e robotic arms, required innovative solutions to balance payload capacity, stability, and power efficiency while maintaining operational flexibility. A key contribution of this thesis is the modular mechanical design, optimized for adaptability and ease of assembly, using Vention's advanced design tools and lightweight aluminum components. The iterative design process considered factors such as the robot's center of mass, structural stability, and integration of electronic systems.
The integration process explored software frameworks, particularly ROS2, to enable seamless communication and coordination between the robot's components. Emphasis was placed on safety features and human-robot interaction, ensuring that the system complies with stringent industry standards and supports collaborative applications in shared environments.
Through simulation, hardware testing, and real-world implementation, the research demonstrates the robot's capabilities in performing complex tasks with precision and reliability. Potential applications include manufacturing, logistics, healthcare, and research, where the combination of mobility and dexterous manipulation offers significant operational benefits.
This work provides a comprehensive scheme for the development of modular, autonomous robotic systems, addressing both technical and practical challenges. The findings contribute to advancing the field of robotics, paving the way for more versatile, intelligent, and human-centered robotic solutions.
The robot design, based on the MiR200 mobile platform and UR5e robotic arms, required innovative solutions to balance payload capacity, stability, and power efficiency while maintaining operational flexibility. A key contribution of this thesis is the modular mechanical design, optimized for adaptability and ease of assembly, using Vention's advanced design tools and lightweight aluminum components. The iterative design process considered factors such as the robot's center of mass, structural stability, and integration of electronic systems.
The integration process explored software frameworks, particularly ROS2, to enable seamless communication and coordination between the robot's components. Emphasis was placed on safety features and human-robot interaction, ensuring that the system complies with stringent industry standards and supports collaborative applications in shared environments.
Through simulation, hardware testing, and real-world implementation, the research demonstrates the robot's capabilities in performing complex tasks with precision and reliability. Potential applications include manufacturing, logistics, healthcare, and research, where the combination of mobility and dexterous manipulation offers significant operational benefits.
This work provides a comprehensive scheme for the development of modular, autonomous robotic systems, addressing both technical and practical challenges. The findings contribute to advancing the field of robotics, paving the way for more versatile, intelligent, and human-centered robotic solutions.