Design of the fast speed two-arm robot in limited space

Since there are always many limited manufacture spaces in factory, the industrial robots with fixed dimension or slow speed are not suitable for the requirements of automated operations. In order to solve these problems, we proposed a new fast speed two-arm robot for limited space. For application of grabbing and stacking of small size ceramic tiles, we presented a new mechanical structure design method of the fast speed two-arm robot for the limited space. And we established the kinematics model of fast speed two-arm robot in limited space with the D-H method. The two-arm robot could implement operation quickly in limited space through parallel movement of two mechanical arms. Moreover, we analyzed the workspace of two-arm robot with the kinematics equations and planed the movement trajectory by method of the joint space. Finally the two-arm robot workspace was obtained and the trajectory of the robot was checked by MATLAB simulation. It was verified that the homework frequency of two-arm robot met the requirement of small size ceramic tiles actual production.