This paper presents a novel robotic arm system, named PAPRAS (Plug-And-Play Robotic Arm System). PAPRAS consists of a portable robotic arm(s), docking mount(s), and software architecture including a control system. By analyzing the target task spaces at home, the dimensions and configuration of PAPRAS are determined. PAPRAS's arm is light (less than 6kg) with an optimized 3D-printed structure, and it has a high payload (3kg) as a human-arm-sized manipulator. A locking mechanism is embedded in the structure for better portability and the 3D-printed docking mount can be installed easily. PAPRAS's software architecture is developed on an open-source framework and optimized for low-latency multiagent-based distributed manipulator control. A process to create new demonstrations is presented to show PAPRAS's ease of use and efficiency. In the paper, simulations and hardware experiments are presented in various demonstrations, including sink-to-dishwasher manipulation, coffee making, mobile manipulation on a quadruped, and suit-up demo to validate the hardware and software design.

翻译：本文提出了一种名为PAPRAS（即插即用机器人手臂系统）的新型机器人手臂系统。PAPRAS由可便携的机器人手臂、对接支架以及包含控制系统的软件架构组成。通过分析家庭中的目标任务空间，确定了PAPRAS的尺寸与构型。PAPRAS手臂重量轻（小于6千克），采用优化的三维打印结构，且作为与人手臂尺寸相当的机械臂，其有效载荷较高（3千克）。结构中嵌入锁定机构以实现更好的便携性，且三维打印的对接支架易于安装。PAPRAS的软件架构基于开源框架开发，并针对低延迟的多智能体分布式机械臂控制进行了优化。本文展示了创建新演示的过程，以说明PAPRAS的易用性与高效性。文中通过多种演示（包括水槽至洗碗机的操作、煮咖啡、四足机器人上的移动操作以及穿衣演示）进行了仿真与硬件实验，以验证硬件与软件设计。