Abstract : This paper briefly describes the overall design concept of a mobile service robot platform. This robot platform has a simple structure, low manufacturing cost, and dual-arm operation capabilities. The robot's two arms utilize different configurations, and through coordinated control, they can track, grasp, and smoothly transfer objects. Furthermore, the key technologies of the robot, including its binocular vision positioning device, mobile platform, control scheme, and path planning, are analyzed. This provides a theoretical and experimental foundation for the next step of developing a humanoid conceptual companion robot with certain operational capabilities. Keywords : Service robot; Mobile platform; Dual-arm operation; Path planning 0 Introduction Currently, commercial robots are widely used in manufacturing. However, in the field of robotics, a new and vibrant service robot has emerged and is developing rapidly. A service robot refers to a semi-autonomous or fully autonomous robot that can perform service tasks beneficial to humans, excluding production equipment. Broadly speaking, service robots refer to all types of robots other than industrial robots, mainly used in the service industry, including indoor and outdoor robots. Currently, with the increasing severity of the global aging population problem and the urgent need to improve the quality of life for people with disabilities, companion robots, mobility robots, rehabilitation robots, and intelligent wheelchairs, mainly targeting the elderly and disabled, collectively referred to as "elderly/disability assistance service robots," have begun to receive high attention from developed countries worldwide and have become a global research hotspot. Although research on elderly/disability assistance service robots in China is still in its early stages, a relatively good research foundation has been established in certain key robot technologies and product development. For example, Li Jianjun et al. developed a seven-degree-of-freedom mobile nursing robot, designed for high-level paraplegic patients, aiming to perform tasks such as fetching medication, delivering water, and turning pages without human supervision; Li Ruifeng et al. developed a dual-arm intelligent service robot; the Institute of Automation, Chinese Academy of Sciences, developed a robotic wheelchair with visual and voice navigation capabilities and the ability to interact with humans via voice; and Shanghai Jiao Tong University successfully developed a voice-controlled wheelchair, which can execute commands within 1-2 seconds after the user issues a simple voice instruction. This paper studies an experimental platform for a mobile dual-arm service robot, designed to address the characteristics of robots that assist the elderly and disabled. This platform features a simple structure, low manufacturing cost, and the ability to perform tasks such as fetching water, pouring water, and smoothly delivering items in a structured environment through coordinated dual-arm operation. 1. Platform Overall Architecture In line with the requirements of the "concept prototype" of the intelligent companion robot in the 863 Program project "Service Robots for Assisting the Elderly and Disabled," the experimental platform for this companion robot aims to meet the needs of the elderly and disabled. Based on multi-sensor information fusion technology, including road sign detection, visual CCD tracking, and ultrasonic sensors, it enables navigation and control. In a structured environment, the mechanical gripper follows the target position, and then, in conjunction with a modified water cup, performs functions such as fetching water, pouring water, and smoothly delivering items. The robot platform mainly consists of a visual navigation and positioning device, a multi-degree-of-freedom robotic arm, and a mobile platform. In the robot platform structure, except for the motor, battery, and standard parts, all materials are made of aluminum profiles, lightweight aluminum plates, and nylon rods. To prevent the platform from tipping over when the robotic arm grasps a water cup, a battery-powered counterweight is used to shift the platform's center of gravity backward. The structure of the robot platform is shown in Figure 1. [Full text download of the development of a mobile dual-arm service robot platform]