Double-arm robot main body system

The invention relates to a double-arm robot main body system. The double-arm robot main body system comprises a waist portion, a neck portion, arm portions and finger portions. The neck portion is mounted at the upper end of the waist portion through a quick-changing connection mechanism. The arm portions are mounted at the two sides of the waist portion. The far end of each arm portion is provided with the corresponding finger portion. The double-arm robot main body system has the advantages that the freedom degree is good; the control based on a position loop and a speed loop is achieved; the double-arm robot main body system can be controlled remotely in real time conveniently; and long-distance transmission can be achieved. 本发明涉及双臂机器人主体系统，所述的双臂机器人主体系统包括腰部、颈部、手臂部、手指部；所述的颈部通过快换连接机构安装在腰部上端；所述的腰部两侧安装有手臂部；所述手臂部的远端安装有手指部。其优点表现在：本发明的种双臂机器人主体系统，具有自由度好，基于位置环和速度环的控制，便于远程实时控制，且可远程传输等优点。