singlearm

Singlearm is a term used across robotics, biomechanics, and related fields to describe systems that rely on a single manipulator or arm. It can refer to a standalone robotic arm, a prosthetic limb, or a research platform focused on single-arm manipulation. The label contrasts with multi-armed configurations, where two or more arms operate cooperatively, or with swarms of robots. In practice, singlearm setups are chosen when space, cost, or control complexity favors a single end effector.

In robotics, a single-arm configuration typically includes a kinematic chain (articulated, Cartesian, cylindrical, or spherical), an end effector, actuators, sensors, and a controller. Components such as position encoders, torque sensors, and vision systems enable perception and feedback. Actuators may be electric motors, hydraulics, or pneumatics, depending on payload and speed requirements.

Control and planning for a single arm involve inverse and forward kinematics, trajectory generation, and closed-loop control. Common approaches include PID or model-based controllers, with simulation and calibration to ensure accuracy. Applications span manufacturing pick-and-place, packaging, laboratory automation, and service robots handling objects in constrained spaces.

In biomechanics, single-arm devices encompass prosthetic limbs and assistive exoskeleton components for unilateral impairment, emphasizing intuitive control, tactile feedback, and natural movement patterns.

As a design concept, singlearm highlights the trade-offs between simplicity and dexterity, balancing reach, payload, and controllability. Related topics include robotics arms, kinematics, prosthetics, and manipulation planning.