Robot arms are being increasingly used in various fields with special attention given to unmanned systems. In this research, we developed a high payload dual-arm robot, in which the forearm module is replaceable to meet the assigned task, such as object handling or lifting humans in a rescue operation. With each forearm module specialized for an assigned task (e.g. safety for rescue and redundant joints for object handling task), the robot can conduct various tasks more effectively than could be done previously. In this paper, the design of the high payload dual-arm robot with replaceable forearm function is described in detail. Two forearms are developed here. Each of forearm has quite a different goal. One of the forearms is specialized for human rescue in human familiar flat aspect and compliance parts. Other is for general heavy objects, more than 30 kg, handling with high degree of freedom more than 7.

1. 서 론
 2. 작업 분석 및 설계 컨셉트
  2.1 구난 및 물체 핸들링을 위한 요구조건 분석
  2.2 설계 컨셉트
 3. 매니퓰레이터 설계
  3.1 부하 해석
  3.2 로봇 상박 및 몸통 설계
  3.3 모듈형 하박 관절 설계
 4. 프로토타입 설계/제작 및 성능검증
 5. 결론 및 향후 연구계획
 References

• 김휘수(Department of Robotics and Mechatronics, Korea Institute of Machinery and Materials) | Hwisu Kim
• 박동일(Department of Robotics and Mechatronics, Korea Institute of Machinery and Materials) | Dongil Park
• 최태용(Department of Robotics and Mechatronics, Korea Institute of Machinery and Materials) | Taeyong Choi
• 도현민(Department of Robotics and Mechatronics, Korea Institute of Machinery and Materials) | Hyunmin Do
• 김두형(Department of Robotics and Mechatronics, Korea Institute of Machinery and Materials) | Doohyeong Kim
• 경진호(Department of Robotics and Mechatronics, Korea Institute of Machinery and Materials) | Jinho Kyung
• 박찬훈(Korea Institute of Machinery and Materials) | Chanhun Park Corresponding author