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
<7 DOF service robot manipulator>
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