Design of dual arm module for LARMbot humanoid

The LARMbot is a low-cost user-oriented humanoid robot that is designed at the LARM2 laboratory of the University of Rome Tor Vergata. This paper presents a new arm module for the prototype of the new LARMbot v3. The evolution from the LARMbot v2 to LARMbot v3 prototypes is explained and discussed. After considering the arm manipulation issues by tests with the prototype v2, experiments are designed and performed to evaluate the new module performance. The new design of a LARMbot arm is presented with its implementation in a manipulator module of dual arm for the LARMbot humanoid. The tripod design of main arm structure is revised with a sensored solution for an efficient low-cost operation matching the basic LARMbot design concept on parallel kinematic structure emulating the human muscular skeleton anatomy. A prototype is designed using commercially available components in combination with structural parts by 3D printing manufacturing. The prototype is tested to validate and characterize the design performance with an operation that is based on motion programming with Arduino-based solution. The proposed solution features a low-cost solution of less than 2000 Euro for a fairly simple operation programmed with Arduino codes.