Design and control of a dual arm robot manipulator

In this thesis, it's aimed to perform design, analysis and control of a dual arm parallel robot manipulator by using SolidWorks, MATLAB softwares and Arduino controller board. This manipulator is basically a five bar mechanism that have four mobile and one fixed arms. It's called dual arm robot, because it has two actuated arms. In first chapter, some information about parallel robots is given. Also, different applications of dual arm robot are mentioned. In second chapter, it's mentioned how to design and analyze the manipulator by using SolidWorks software. Moreover, this software gives a visual opinion to determine the workspace of the robot. In third chapter, the inverse kinematics equations those are essential for control, are derived. Geometrical and analytical methods are used to locate the angles of joints and derive the equations. The fourth chapter is about control units those are used in this study. The functions and codes compiled with MATLAB provide to calculate the actuated joints angles for preferred motions of the end effector and to send them to Arduino controller board with serial communication technique. Arduino board provides to control the servo motors and to run them simultaneously. In chapter five, the conclusions, future works and different usages of the manufactured dual arm robot are mentioned.