Asymmetric Dual-Arm Teleoperation Platform for Force Application

6-DOF teleoperation platform for controlled force application with FEA-optimized rigidity and synchronized Dynamixel motion control.

  • Engineered an asymmetric dual-arm teleoperation system with 6-DOF actuation for controlled force application, using static FEA to optimize rigidity and downward force transmission.
  • Integrated electromechanical subsystems, refining cable routing and Dynamixel servo motor placement for synchronized motion control.
Dual-Arm Teleoperation — Teleoperation Platform
Teleoperation Platform
Teleoperation Demo
Tactile Sensor Demo

The system combines structural design, actuator integration, and packaging decisions to support repeatable tool motion and controlled downward loading. Static FEA guided the mechanical layout to improve rigidity and downward force transmission, while servo placement and cable routing were refined for reliable synchronized operation.

Mechanical Assembly Details

Teleoperation arm assembly showing the servo joints, actuator mounting, and cable routing
Custom arm assembly and actuator integration.

Custom 6+1-DOF Arm Demo

Additional teleoperation demonstration.

Skills Applied: Mechanical Design Static FEA Teleoperation 6-DOF Actuation Dynamixel Servos Electromechanical Integration

Compact Variable-Transmission End-Effectors

Designed compact grippers with variable mechanical advantage. Used kinematic analysis and iterative SLA prototyping to refine linkage geometry, resolve binding, and improve repeatable motion.

  • Designed a 30 mm variable-transmission end-effector using SLA 3D printing, resolving linkage binding and eliminating dead centers through iterative testing and kinematic analysis.
  • Developing a lightweight 6 mm tendon-driven gripper for automated loading under tight spatial constraints to improve precision and operational repeatability.

The project focuses on compact mechanism design where available workspace, linkage stability, and repeatable motion are tightly coupled. Iterative prototyping and kinematic analysis were used to remove dead-center behavior, reduce binding, and guide the transition toward a smaller tendon-driven architecture.

Skills Applied: Mechanism Design Kinematic Analysis SLA 3D Printing Tendon-Driven Actuation Rapid Prototyping Design Iteration