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