Kinematic design and workspace analysis of a Korean service robot: KOBOKER

This paper analyzes the workspace of KOBOKER built as a service robot for home applications. KOBOKER is a kind of mobile manipulators that have two arms and two wheels to fit Korean life style which relies mostly on floor living. KOBOKER performs handling tasks not only on the desk but also on the floor. Among several new design concepts of KOBOKER, the most typical design is the sliding mechanism of two arms that allows the robot to reach objects on the floor easily. The workspace of the robot is analyzed through kinematics. A suitable wheel size is determined by analyzing the workspace of the robot on the floor.