Highly integrated sensor-actuator-controller units for modular robot design

Rader, Samuel; Kaul, Lukas; Weiner, Pascal; Asfour, Tamim

doi:10.1109/aim.2017.8014175

Cited by 20 publications

(8 citation statements)

References 14 publications

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“…To generate the required torque, each arm joint is actuated by a highly integrated sensor-actuator-controller (SAC) unit [18]. These modular SAC units (Figure 3) include a brushless dc motor and a backlash-free Harmonic Drive reduction gearbox with all the necessary bearings as well as a comprehensive sensor suite, communication, and motor control electronics.…”

Section: Dual-arm System With 16 Torque-controlled Dofmentioning

confidence: 99%

ARMAR-6: A High-Performance Humanoid for Human-Robot Collaboration in Real-World Scenarios

Asfour

Paus

Waechter

et al. 2019

IEEE Robot. Automat. Mag.

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major goal of humanoid robotics is to enable safe and reliable human-robot collaboration in realworld scenarios. In this article, we present ARMAR-6, a new high-performance humanoid robot for various tasks, including but not limited to grasping, mobile manipulation, integrated perception, bimanual collaboration, compliant-motion execution, and natural language understanding. We describe how the requirements arising from these tasks influenced our major design decisions, resulting in vertical integration during the joint hardware and software development phases. In particular, the entire hardware-including its structure, sensor-actuator units, and low-level controllers-as well as its perception, grasping and manipulation skills, task coordination, and the entire software architecture were all developed by one team of engineers. Component interaction is facilitated by our software framework ArmarX, which

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Section: Dual-arm System With 16 Torque-controlled Dofmentioning

confidence: 99%

ARMAR-6: A High-Performance Humanoid for Human-Robot Collaboration in Real-World Scenarios

Asfour

Paus

Waechter

et al. 2019

IEEE Robot. Automat. Mag.

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“…Infinite rotation is a significant advantage, and recently, slip rings have been used for high-frequency signal transmission and optical communication. However, increasing the number of wires also increases the cost of the components, as well as the difficulty in designing the joints [6,7].…”

Section: Introductionmentioning

confidence: 99%

Design and Verification of Parallelogram Mechanism With Geared Unit Rolling Joints for Reliable Wiring

Suh

Choi

2023

IEEE Robot. Autom. Lett.

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The structure of 1-DOF joints used in existing robots is generally a revolute or a prismatic joint. However, recently, attempts have been made to apply rolling joints to reduce the size and weight of surgical and humanoid robots. In this study, to take advantages of wire routing through robot joints, a new method for applying geared rolling units to a parallelogram mechanism is proposed. First, a kinematic analysis of the proposed gear-based mechanism is explained in comparison with the existing pivot-based mechanism. In addition, the importance of the radii of the gears is verified through force analysis to prevent damage to the applied gears, as well as through the analysis of actuation torque and singular positions, in which the parallelogram can convert into an antiparallelogram. The effect of stable wiring was verified through an experiment using a cable-driven prototype. Consequently, the proposed parallelogram mechanism composed of rolling units is expected to be applied to various robot configurations owing to its advantages.Index Terms-Mechanism design, actuation and joint mechanisms, tendon/wire mechanism, kinematics NRF-2020R1C1C1008707, No. 2022.

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“…Compared with traditional robot joints, these joint modules have the advantages of compact structure, simple assembly, easy maintenance, and lightweight, which has become a crucial development direction of the robot fields and begins to be widely used in different kinds of robots. Nowadays, not only companies, but also many research facilities use the advantages of the highly integrated robot joints and some commercial robot joints have been developed, such as Kollmorgen's RGM, ETH's ANYdrive, Dynamixel units, and so on [1].…”

Section: Introductionmentioning

confidence: 99%

Design of a High-torque Robot Joint and Its Control System

Qiang

Zhou²,

Zhu³

et al. 2022

J. Phys.: Conf. Ser.

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The robot joint is one of the key components of robots. With the wide application of robot joints, the demand for joint torque is becoming higher and higher. However, at present, most high-torque robot joints are generally large in weight and size, which creates problems for some applications. For this purpose, a high-torque and high-torque-density robot joint is proposed. To improve the joints’ torque density, the lightweight motor and reducer with a large reduction ratio are selected, and the mechanical structure design is based on weight reduction, miniaturization, and heat dissipation. The maximum torque of the proposed robot joint can reach up to 182Nm, and its mass is only 1.8kg. Besides, an embedded control system is designed to control the robot joint. Many experiments were conducted to measure the robot joint’s characteristics, such as torque, speed, and control features. And the designed robot joints are successfully applied to a biped robot. The results verify the performance of the designed robot joint and its control system.

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Highly integrated sensor-actuator-controller units for modular robot design

Cited by 20 publications

References 14 publications

ARMAR-6: A High-Performance Humanoid for Human-Robot Collaboration in Real-World Scenarios

ARMAR-6: A High-Performance Humanoid for Human-Robot Collaboration in Real-World Scenarios

Design and Verification of Parallelogram Mechanism With Geared Unit Rolling Joints for Reliable Wiring

Design of a High-torque Robot Joint and Its Control System

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