Generalized Design Methodology for Dual-Arm Robotic Platforms: From Conceptualization to Experimental Validation Within the MANiBOT Framework

This work proposes a general methodology for the design and experimental validation of dual-arm robotic platforms intended for intelligent manipulation tasks in real-world environments. The proposed framework formalizes the complete engineering process, from the definition of functional requirements to the structural validation of the final prototype, ensuring reproducibility and adaptability across different applications. The methodology is organized into five main stages: (i) requirement analysis and context characterization; (ii) conceptual architecture definition; (iii) detailed mechanical design and structural analysis; (iv) prototype construction and integration; and (v) experimental validation and iterative refinement. Each stage defines its expected deliverables, evaluation metrics, and decision criteria to support systematic design progression. The approach is demonstrated through its implementation within the European project MANiBOT, where the framework guided the development of a modular bimanual robotic platform capable of integrating collaborative manipulators and conveyor subsystems for dual-arm manipulation. Structural testing, deflection measurements, and stability analyses confirmed the robustness and safety of the resulting design. Beyond this specific case, the proposed methodology provides a replicable and extensible design reference for research and industrial teams developing modular robotic structures, supporting the standardization of engineering practices in bimanual mobile robotics.