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7-DOF Manipulator

Service Robot Manipulator
  • Research Background
    • Various tasks for service to humans are required for service robot manipulators.
    • A multi-DOF manipulator is needed for dexterous manipulation.
  • Research Objectives
    • Development of a multi-DOF service robot manipulator
    • Compact and lightweight design
  • Simulation and design of service robot manipulator
    • Dynamic simulation: torque and moment load of each joint
    • Manipulability analysis: operation angle of each joint
    • FEM analysis: lightweight structure
      
  • Features of service robot manipulator
    • 7 DOF (R-P-R-P-R-P-Y)
    • Modular-type design
      • Hollow structure for cabling
      • Harmonic drives, cross-roller(CR) bearing
      • Integration of torque sensor with speed reducer
    • Lightweight arm
      • Design optimization with various simulations
      • Maximized ratio of payload / weight
    • Embedded torque sensor with amplifier
      • Force control / collision detection
             

  • Research Output
                  
                                     <7 DOF service robot manipulator>

  • Demonstration
    • Impedance control

    • Collision detection

    • Grasping control