duAro2 is Kawasaki’s second-generation dual-arm SCARA cobot — two 4-axis arms mounted on a mobile cart, built to slot directly into a human workspace without safety fencing. It’s a common sight on kitting and light-assembly lines doing the kind of pick-and-place work that’s awkward for a single-arm robot but doesn’t need a full six-axis arm’s reach.
The mechanism
Two independent 4-axis SCARA arms (lower_*/upper_*), each: shoulder, elbow, a Z-lift
joint, and a wrist rotation. Each arm’s Z-lift joint drives a 2-link linkage
(*_joint3_mimic1/*_joint3_mimic2, both <mimic> of *_joint3) that keeps the wrist
mount level while it travels — mechanically coupled, not independently actuated. Real
DOF is 8 (4 per arm), even though the naive movable-joint count is 12.
About these files — read before importing
This is not a URDF — Kawasaki publishes duAro2 as a parameterized .xacro template shared
across its whole khi_ros2 product line, with model identity (link geometry, joint limits,
inertial data) coming from robot_series/robot_name arguments and per-model YAML config
files, not a separate file per robot. This gallery entry links directly to the official
khi_ros2 repository’s khi_description
package, configured for the duAro2, unmodified. ARMOR expands the macros itself after
downloading, so Open in ARMOR gives you a working robot — nothing here is a pre-baked
derivative of Kawasaki’s files.