Abstract
Design of mechanical structure of the lightweight robot arm with anthropomorphic characteristics is considered in the paper with aim to achieve system performances and appearance closer to the physical properties and capabilities of human limb. In this goal, design solutions of contemporary lightweight robot arms are analyzed. New mechanical structure of robot arm is proposed in this study. The solution proposed takes into account the important biological aspects (structural as well physiological) to a greater extent than the existing constructive solutions. Main objective of the research regards to development of a bi-manual service robotic system of anthropomorphic characteristics. Tendon-driven, biologically-inspired, over-actuated 7 DOFs redundant robotic arm is presented in the paper. Compliant structure of robot arm is needed and enables safe and reliable human-robot interaction. Compliance in the system was achieved by introducing additional passive elastic and damping elements and by means of intelligent control that changes system impedance in a way inspired by human body. Corresponding control-block scheme and CAD-model of the robot-arm mechanical structure are presented in the paper. Simulation results of robot-arm model are presented, too, with aim to validate the concept and technical feasibility.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
Siciliano B, Khatib O (eds) (2008) Springer handbook of robotics. Springer, Berlin. ISBN 978-3-540-23957-4
List of muscles of human body. http://en.wikipedia.org/wiki/List_of_muscles_of_the_human_body. Accessed Jan 2015
Muscle. http://en.wikipedia.org/wiki/Muscle. Accessed Jan 2015
Bischoff R, Kurth1 J, Schreiber G, Koeppe R, Albu-Schäffer A, Beyer A, Eiberger O, Haddadin S, Stemmer A, Grunwald2 G, Hirzinger G (2010) The KUKA-DLR lightweight robot arm: a new reference platform for robotics research and manufacturing. In: Robotics (ISR), 2010 41st international symposium on and 2010 6th German conference on robotics (ROBOTIK)
Hirzinger G, Brunner B, Landzettel K, Sporer N, Butterfaß J, Schedl M (2003) Space robotics—DLR’s telerobotic concepts, lightweight arms and articulated hands. Auton Robots 14(2–3):127–145
Ott Ch, Eiberger O, Friedl W, B¨auml B, Hillenbrand U, Borst Ch, Albu-Schaffer A, Brunner B, Hirschmuller H, Kielhofer S, Konietschke R, Suppa M, Wimb¨ock T, Zacharias F, Hirzinger G (2006) A humanoid two-arm system for dexterous manipulation. In: IEEE-RAS international conference on humanoid robots
Butterfaß J, Grebenstein M, Liu H, Hirzinger G (2001) DLR-Hand II: next generation of a dextrous robot hand. In: IEEE international conference on robotics and automation, pp 109–114
Hirzinger G, Albu-Schaeffer A (2015) Light-weight robots. http://www.scholarpedia.org/article/Light-weight_robots. Accessed Jan 2015
Payload fraction. http://en.wikipedia.org/wiki/Payload_fraction. Accessed Jan 2015
KUKA-robot. http://www.kuka-robotics.com/res/sps/e6c77545-903049b193f54d17c92173aa_Spez_KR_AGILUS_sixx_en.pdf. Accessed Jan 2015
DENSO-robot. http://www.densorobotics-europe.com/en/product/vs-6577g-b. Accessed Jan 2015
https://www.mhi.co.jp/technology/review/pdf/e405/e405298.pdf. Accessed Jan 2015
http://www.motoman.com/datasheets/SIA5F.pdf. Accessed Jan 2015
KUKA LBR iiwa 7R800 www.kuka-labs.com/en/pressevents/news/201304_LBR_iiwa_world_premiere.htm. Accessed Jan 2015
http://www.barrett.com/robot/products-arm.htm. Accessed Jan 2015
On line. http://www.schunk.com/schunk_files/attachments/LWA_datasheet_2012-03__EN.pdf
Meka Robotics’ Humanoid Torso and Anthropomorphic Hands, Meka Robotics A2 Compliant Manipulator. http://www.hizook.com/blog/2009/10/18/meka-robotics-humanoid-torso-and-anthropomorphic-hands. Accessed Jan 2015
http://www.abb.com/cawp/abbzh254/8657f5e05ede6ac5c1257861002c8ed2.aspx. Accessed Jan 2015
Pratt Jerry, Krupp Ben, Morse Chris (2002) Series elastic actuators for high fidelity force control. Ind Robot J 29(3):234–241
Anthropomoprhism. http://www.newworldencyclopedia.org/entry/Anthro-pomorphism. Accessed Jan 2015
Universal joint. http://en.wikipedia.org/wiki/Universal_joint. Accessed Jan 2015
Serial manipulator. http://en.wikipedia.org/wiki/Serial_manipulator. Accessed Jan 2015
Dumitru V, Dumitru S (2011) Computer-aided modeling for a poly articulated robotic arm with spherical joints. In: Proceedings of the world congress on engineering, vol III WCE 2011, July 6–8, 2011, London, UK
Popov D, Gapanov I, Ryu JH (2013) Bidirectional elbow exoskeleton based on twisted-string actuators. In: Proceedings of 2013 IEEE/RSJ international conference on intelligent robots and systems (IROS), November 3–7, 2013, Tokyo, Japan, pp 5853–5858
Rodić A, Miloradović B, Popić S, Spasojević S, Karan B (2013) Development of modular compliant anthropomorphic robot hand. In: Pisla D, Bleuler H, Rodic A, Vaida C, Pisla A (eds) New trends in medical and service robots. theory and integrated applications, series: mechanisms and machine science. Springer Publishing House, vol 16, VIII, 238 p 167. ISBN 978-3-319-01591-0
Williamson P, Pratt D, Wright U (1995) Stiffness isn’t everything proceedings of ISER ‘95, Stanford
Acknowledgments
Research in the paper was funded by the Serbian Ministry of Education, Science and Technology Development under the grants TR-35003 and III-44008. It is partially supported by the SNSF IP project IZ74Z0_137361/1 as well by Serbia-China bilateral project under the grant 451-03-02338/2012-14/12.
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2016 Springer International Publishing Switzerland
About this paper
Cite this paper
Rodić, A., Miloradović, B., Popić, S., Urukalo, Đ. (2016). On Developing Lightweight Robot-Arm of Anthropomorphic Characteristics. In: Bleuler, H., Bouri, M., Mondada, F., Pisla, D., Rodic, A., Helmer, P. (eds) New Trends in Medical and Service Robots. Mechanisms and Machine Science, vol 38. Springer, Cham. https://doi.org/10.1007/978-3-319-23832-6_4
Download citation
DOI: https://doi.org/10.1007/978-3-319-23832-6_4
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-23831-9
Online ISBN: 978-3-319-23832-6
eBook Packages: EngineeringEngineering (R0)