Development of Low-Inertia High-Stiffness Manipulator LIMS2 for High-Speed Manipulation of Foldable Objects

Song, Hansol; Kim, Yunsoo; Yoon, Junsuk; Yun, Seong-Ho; Seo, Jiwon; Kim, Yong-Jae

doi:10.1109/iros.2018.8594005

Cited by 32 publications

(10 citation statements)

References 5 publications

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“…Prior studies aiming to reduce effective mass, similar to our research, include the 7-DoF manipulators lims1 [2] and lims2 [3], which consolidated motors for elbow and wrist actuation in the upper arm. Lims1 had a maximum effective mass of 1.5 kg, while lims2 had a maximum effective mass of 2.1 kg.…”

Section: A Analysis Of Effective Massmentioning

confidence: 88%

Design and Jumping Motion of a Parallel Wire-Driven Monopedal Robot RAMIEL

et al. 2022

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Improving the safety of collaborative manipulators necessitates the reduction of inertia in the moving part. Within this paper, we introduce a novel approach in the form of a passive 3D wire aligner, serving as a lightweight and low-friction power transmission mechanism, thus achieving the desired low inertia in the manipulator's operation. Through the utilization of this innovation, the consolidation of hefty actuators onto the root link becomes feasible, consequently enabling a supple drive characterized by minimal friction. To demonstrate the efficacy of this device, we fabricate an ultralight 7 degrees of freedom (DoF) manipulator named SAQIEL, boasting a mere 1.5 kg weight for its moving components. Notably, to mitigate friction within SAQIEL's actuation system, we employ a distinctive mechanism that directly winds wires using motors, obviating the need for traditional gear or belt-based speed reduction mechanisms. Through a series of empirical trials, we substantiate that SAQIEL adeptly strikes balance between lightweight design, substantial payload capacity, elevated velocity, precision, and adaptability.

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Section: A Analysis Of Effective Massmentioning

confidence: 88%

Design and Jumping Motion of a Parallel Wire-Driven Monopedal Robot RAMIEL

et al. 2022

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“…This mechanism (Fig. 8) was developed on the basis of the solution proposed in the LIMS2 walking robot [18], − a motor with lower energy efficiency, with an identical belt-toothed transmission, similarly drives the movement in a joint-joint connecting the B R3 segment (equivalent to a cat's forearm) with the B L1 segment (equivalent to a cat's wrist). The tendons with which it moves are threaded through the center of the elbow joint from the inside (Fig.…”

Section: Selected Fragments Of the Description Of The Construction And Implementation Of The Bionic Cat Projectmentioning

confidence: 99%

An Innovative Project of a Bionic Robot for Social Applications in Felinotherapy

Litwin¹,

Woźniak²,

Olszewski³

2021

PAR

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The paper describes an innovative design of a bionic robot for applications in felinotherapy supporting hospital and home psychotherapeutic treatment of bedridden children and adults. The project was engineered by biomimicrating a biological cat, reaching its robotic model. Particular attention in this process was devoted to capturing the essence of feline motorics behavior and the possibility of mapping them in a mechatronic model. The geometry, kinematics and kinetics of this model were analyzed, creating assumptions for its practical implementation in the real mechanism of cat skeleton movement. The used software used the topology of elements in Autodesk Fusion 360 Simulation workspace by performing the critical elements of the mechatronic model in print using SLS technology. The work was also supported by a graphical simulation in the PyBullet environment.

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“…The LIMS-2 Ambidex is a very advanced robot which operates its arms through a series of servo motors in the shoulder that each pull-on cables woven through complex joint arrangements and pulleys. By doing this, they move the motors and thus the majority of the weight into the shoulders, which massively reduces the inertia of the arms and allows human-safe compliant operation nearby [13].…”

Section: Current Robotic Armsmentioning

confidence: 99%

Design of a Biomimetic BLDC Driven Robotic Arm for Teleoperation & Biomedical Applications

Procter

Secco

2021

J. Hum. Earth Future

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For many years, robotics research and development has been held back from the high-power AC motors of industrial automation, locked to low-power, bulky Stepper motors and simple DC Servos. As of a few years ago, Brushless DC motors started seeing use in high-end quadrupedal designs such as Boston Dynamics Cheetah, and Spot. Whilst these used expensive, proprietary control systems that were closed source and out of the reach of many small-scale researchers, developers, and hobbyists, they did demonstrate the potential of a motor-class previously only commonly thought suitable for high-RPM applications like drones and quadcopters. In 2016, an open-source custom driver platform named ODrive was started, which is now in its 3rd iteration. As of 2021, it provides all of the basic hardware and software needed to control 2 closed loop Brushless DC motors per board, using off the shelf encoders and at a reasonable, hobbyist level price point. This technology is, on paper, a huge development for plenty of low-budget robotics research applications. In this project, we design, build, and evaluate a 4 DOF robotic arm using 4 BLDC motors with ODrive control, using 3D printed parts and other components available at a low price point. This arm will be used in the future for testing tele-operative control and so it is designed to be biomimetic, modelled at 2/3 scale with similar proportions and motion capabilities to a real human arm to the elbow. The extremely small, cheap, and lightweight motors selected for this project are shown to output superior speed and torque to stepper motors multiple times their size and weight, albeit at a very significant power draw requirement. The speed and power of a BLDC through a high reduction gearbox allows extremely fast and responsive movement such that it can easily execute complex movements easily in pace with a human arm. Doi: 10.28991/HEF-2021-02-04-03 Full Text: PDF

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Development of Low-Inertia High-Stiffness Manipulator LIMS2 for High-Speed Manipulation of Foldable Objects

Cited by 32 publications

References 5 publications

Design and Jumping Motion of a Parallel Wire-Driven Monopedal Robot RAMIEL

Design and Jumping Motion of a Parallel Wire-Driven Monopedal Robot RAMIEL

An Innovative Project of a Bionic Robot for Social Applications in Felinotherapy

Design of a Biomimetic BLDC Driven Robotic Arm for Teleoperation & Biomedical Applications

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