Design and Implementation of Dual-Arm Robot with Homogeneous Compliant Joint

Safety is essential for physical Human-Robot Interaction (pHRI). Nowadays, most safety studies have focused on collision analysis and safety evaluation instead of the consideration of inherent safety. In this paper, a dual-arm robot easily manufactured in batch is developed with homogeneous compliant joint. In order to compromise performance and safety, a nonlinear model of human-robot collision with effective mass and stiffness at the end-effecter(EE) is described and simulated to determine the tradeoff conditions under the safety criterion by ISO 15066 when human-robot collision occurs, and modal analysis on a single arm is carried out to compute the lowest order modal frequency by which kinematic performance is estimated roughly. Finally, spring stiffness of the compliant joint is selected to balance safety requirement and performance.