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Most of the humanoid robots are facing problems due to non-dexterous arms while working in complex environments. Kinematic and dexterity analyses help to study and solve the manipulation difficulties of a robot. This paper presents the kinematic and dexterity analyses of torso and dual arms for a tree type upper body humanoid robot with fixed base using screw theory formulation. Orientation workspace and reachability analyses of the dual arms are done for determining the dexterity of the robot. In this paper, orientation workspace of the tree type upper body is obtained by converting the rotation matrix to Euler angle set representation. The upper body of the humanoid robot is designed with three Degrees of freedom (DoF) in the torso, two DoF in the neck, five DoF in each arm.

Modelling of torso and dual arms for a humanoid robot with fixed base by using screw theory for dexterous applications