An End-Effector Grasping Strategy for Dual-Arm Robots During Construction Board Installation

The dual-arm cooperative operation mode can effectively address the problems of insufficient load capacity and limited motion flexibility of traditional single-arm robots during the installation of construction boards. However, the selection of the end-effector grasping position of dual-arm robots will significantly affect their motion performance during handling operations. To address this issue, this study proposes an end-effector grasping strategy for sheet installation in the dual-arm cooperative operation mode of a dual-arm robot, which determines the optimal grasping position to ensure the robot’s good operational performance. We developed a dual-arm robot prototype for board installation and established a kinematic model of the robot’s manipulators. Based on the dexterity index’s service sphere, we obtained the dexterity envelope surfaces of the robot end-effector at different grasping distances and analyzed the relationship between grasping distance and dexterity. The mechanical model of the robot was established, and simulations were performed for each joint. The effects of different grasping points on the torque, stiffness, and stability at the robot’s key points were investigated, and the end-effector grasping range of the robot with optimal mechanical performance was analyzed. Finally, the proposed robot grasping strategy was verified on the robot prototype. The results demonstrate that the strategy is feasible and effective, helping to improve the robot’s operational performance.