Modular concepts for the new generation of DLR’s light weight robots

Abstract

The paper outlines DLR’s mechatronic developments in the robotics area over the last five years. They aim at designing a new multisensory, modularly configurable light weight robot generation in a unified and integral way. A first step in this direction has been the development of a complex multisensory gripper. It turned out to be a key element in ROTEX, the first real robot in space that flew with shuttle COLUMBIA in early 1993. Sensors and actuators in DLR’s new ultra-light-weight robot show up miniaturised integration of mechanics, electronics and microprocessor control. Joint torque control based on inductive sensing may be combined with different type of gearings: translational ones (the “artificial muscle” using a new spindle drive concept), originally developed for grippers, as well as compact, highly reducing rotational ones. With optimised carbon fibre grid structures and optical information transfer between the joints a new, extremely light-weight type of robot arises. All power and signal electronics is integrated into the arm which shows up a 1 : 1,5 ratio between load and own weight. Joint control concepts are outlined and a 7 dof version of such a light weight arm is described.