NTU–A*STAR JOINT PROJECT · WP 2.2

Planetary gearbox assembly

Ranger Mini 3.0 · Dual PiPER arms · Simulation

A mobile dual-arm robot explores the workcell, builds an object graph and selects a task-dependent chain of objects. It collects gear components from separate tables, assembles the gearbox, retrieves a wall-mounted driver, fastens the cover and returns the tool.

Contact simulation · stage tests

Carrier and cover insertion

Both stages reach their seated positions.

Remaining manipulation challenges

Grasp slip, incomplete insertion and limited screw travel.