Mechanism Design of Exoskeletal Master Device for Dual Arm Robot Teaching

The usability of robots continues to increase, the use of dual-arm robots is also becoming of increasing importance. However, there has not yet been a proper motion-teaching method for dual-arm robots. In the dual-arm industry robots currently being used, each arm is separately taught by a teaching pendant, but in this case, the synchronization of each arm motion is difficult. In this paper, we propose an exoskeletal master device for dual-arm robot teaching. By adapting a long stroke prismatic joint as well as revolute joints for the shoulder mechanisms, a high-resolution absolute encoder, and a cross roller bearing for each revolute joint, the master device can precisely measure the wearer's motions while at the same time feeling comfortable.