Modular concepts for a new generation of light weight robots

摘要

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 based on a fully modular hard- and software-concept. It turned out to be a key element in ROTEX, the first real robot in space which flew with shuttle COLUMBIA in early 1993. Sensors and actuators in DLR's new ultra-light-weight robot show up miniaturized integration of mechanics, electronics and of course microprocessor control. Joint torque based on inductive sensing may be combined with different type of gearings: translational ones (using a new spindle drive concept), originally developed for grippers but easily usable, e.g. in tendon driven elbow-like joints, as well as compact, highly reducing rotational ones. In combination with optimized 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 ratio between load and own weight.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>