Dual arm manipulators have been developed for the entertainment purpose such as humanoid type or the industrial application such as automatic assembly. Nowadays, there are some issues for applying the dual arm robot system into the various fields. Especially, robots can substitute human and perform the dangerous activity such as search and rescue in the battle field or disaster. In the paper, the dual arm manipulator which can be adapted to the rescue robot with the mobile platform was developed. The kinematic design was proposed for the rescue activity and the required specification was determined through the kinematic analysis and the dynamic analysis in the various conditions. The proposed dual arm manipulator was manufactured based on the vibration analysis result and its performance was proved by the experiment.

• 박동일(Department of Robotics and Mechatronics, Korea Institute of Machinery & Materials, Gajeongbukro 156, Yuseong-gu, Daejeon) | Dong Il Park
• 박찬훈(1Korea Institute of Machinery & Material) | Chanhun Park
• 김두형(1Korea Institute of Machinery & Materials) | Doohyung Kim
• 경진호(1Korea Institute of Machinery & Mater) | Jinho Kyung