| Li Tian（黎田）,Sun Kui,Jiang Zainan,Xie Zongwu,Liu Hong.[J].高技术通讯(英文),2012,18(3):248~255 |
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| System design of a dexterous lightweight robot arm with remote control |
| Revised:August 10, 2010 |
| DOI：10.3772/j.issn.1006-6748.2012.03.006 |
| 中文关键词: |
| 英文关键词: dexterous robot arm, lightweight, modular joint, virtual reality, multisensory capability |
| 基金项目: |
| Author Name | Affiliation | | Li Tian（黎田） | | | Sun Kui | | | Jiang Zainan | | | Xie Zongwu | | | Liu Hong | |
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| 中文摘要: |
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| 英文摘要: |
| This paper presents a novel remote controlled dexterous robot arm with 6 degrees of freedom (DOF). As a highly integrated mechatronics system, sensors and their signal processing system are integrated inside each joint. To lighten the weight, almost all mechanical parts are made of aluminum and the robot control system is placed outside. The modular concept is adopted during the robot design process for time and cost saving. Considering the much greater torque acted on the two shoulder joints, the joint shells are strengthened in the design to increase joint stiffness and suppress system vibration. Meanwhile, to simplify the maintenance, a new spring pins electronic connector is designed to disassemble every joint, connector and link independently without cutting any cables. The teleoperation technology enables the robot to offer more convenient service definitely for people’s daily life. Virtual reality technology is used to solve the time delay problem during teleoperation. Finally, two typical daily chore experiments are implemented to prove the manipulation ability of the dexterous robot arm. |
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