System design of a dexterous lightweight robot arm with remote control  

作　　者：Li Tian Sun Kui Jiang Zainan Xie Zongwu Liu Hong 

机构地区：[1]State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150001, P. R. China

出　　处：《High Technology Letters》2012年第3期248-255,共8页高技术通讯（英文版）

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.

关 键 词：dexterous robot arm LIGHTWEIGHT modular joint virtual reality l multisensory ca-pability 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置] TP242[自动化与计算机技术—控制科学与工程]