The paper briefly addresses DLR' s ( German Aerospace Center) expertise in space robotics by handof corresponding milestone projects including systems on the International Space Station ISS. It then discussesthe k...The paper briefly addresses DLR' s ( German Aerospace Center) expertise in space robotics by handof corresponding milestone projects including systems on the International Space Station ISS. It then discussesthe key technologies needed for the development of an artificial "robonaut" generation with mechatronic ultra-light weight arms and multifingered hands. The third arm generation is nearly finished now, approaching thelimits of what is technologically achievable today with respect to light-weight and power losses. In a similar wayDLR' s second generation of artificial 4-fingered hands was a big step towards higher reliability, manipulabilityand overall performance.展开更多
With the idea of mechatronic integration,a novel finger of the dextrous robot hand has been designed. The finger with nice envelop has four joints with three DOFs driven by three brushless DC motors with smaller size ...With the idea of mechatronic integration,a novel finger of the dextrous robot hand has been designed. The finger with nice envelop has four joints with three DOFs driven by three brushless DC motors with smaller size and more torque. The use of rigid gear head,bevel gears and linkage in the transmission system makes the finger more rigid. Abundant sensors such as joint angle sensors,joint torque sensors and temperature sensors are located in the finger. Integration and modularization are achieved at most by high integration of finger body,driving system,sensors and electronics.展开更多
Since ancient times, man has been concerned to create an artificial structure similar to itself. This concern has remained constant attention and creative thinkers most profound since antiquity until today, it is of g...Since ancient times, man has been concerned to create an artificial structure similar to itself. This concern has remained constant attention and creative thinkers most profound since antiquity until today, it is of greatest interest. This article aims to highlight the most significant moments of the evolution from mechanical creatures mythical or real, from antiquity to the present humanoid robots. There are thus shown the most significant variants humanoid imagined or realized since Talos, described in Greek mythology, continuing with mechanical machines during late Roman Empire, the Byzantine Empire and then the Renaissance of the post-renaissance, then they are shown the main achievements of the industrialization period from the nineteenth to the early part of the twentieth century, then to the most important made in the last decades of the twentieth century and early twenty-first century. The work is important to stimulate concerns academic theorists and practice but also in the industrial practice specializing in robotics and more generally in mechatronics. It also opens the prospect of defining the concept of an artificial humanoid useful both for human prosthesis with certain disabilities, and a humanoid robot performance.展开更多
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 jo...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.展开更多
文摘The paper briefly addresses DLR' s ( German Aerospace Center) expertise in space robotics by handof corresponding milestone projects including systems on the International Space Station ISS. It then discussesthe key technologies needed for the development of an artificial "robonaut" generation with mechatronic ultra-light weight arms and multifingered hands. The third arm generation is nearly finished now, approaching thelimits of what is technologically achievable today with respect to light-weight and power losses. In a similar wayDLR' s second generation of artificial 4-fingered hands was a big step towards higher reliability, manipulabilityand overall performance.
基金Sponsored by the High Technology Research and Development Program of China(Grant No.2008AA04Z203)Development Program for Outstanding Young Teachers in Harbin Institute of Technology(Grant No.HITQNJS.2008.010)
文摘With the idea of mechatronic integration,a novel finger of the dextrous robot hand has been designed. The finger with nice envelop has four joints with three DOFs driven by three brushless DC motors with smaller size and more torque. The use of rigid gear head,bevel gears and linkage in the transmission system makes the finger more rigid. Abundant sensors such as joint angle sensors,joint torque sensors and temperature sensors are located in the finger. Integration and modularization are achieved at most by high integration of finger body,driving system,sensors and electronics.
文摘Since ancient times, man has been concerned to create an artificial structure similar to itself. This concern has remained constant attention and creative thinkers most profound since antiquity until today, it is of greatest interest. This article aims to highlight the most significant moments of the evolution from mechanical creatures mythical or real, from antiquity to the present humanoid robots. There are thus shown the most significant variants humanoid imagined or realized since Talos, described in Greek mythology, continuing with mechanical machines during late Roman Empire, the Byzantine Empire and then the Renaissance of the post-renaissance, then they are shown the main achievements of the industrialization period from the nineteenth to the early part of the twentieth century, then to the most important made in the last decades of the twentieth century and early twenty-first century. The work is important to stimulate concerns academic theorists and practice but also in the industrial practice specializing in robotics and more generally in mechatronics. It also opens the prospect of defining the concept of an artificial humanoid useful both for human prosthesis with certain disabilities, and a humanoid robot performance.
文摘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.
