A backdrivable 6-dof parallel robot for sensorless dynamically interactive tasks
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- เผยแพร่เมื่อ 21 ก.ย. 2023
- This video presents a backdrivable 6-degree-of-freedom parallel robot that can interact with its environment without the need of a force-torque sensor. Because of its parallel architecture, the robot has a low inertia and includes relatively high-torque actuators. Moreover, the timing belt transmissions with a small ratio (3:1) increase the torque available, but with a minimal effect on friction and inertia. The dynamic performance of the robot is demonstrated by several trajectories. Then, different patterns of Cartesian compliance, as well as gravity compensation and virtual walls, are presented. Large impacts can be applied for the assembly of components without damaging the robot, thanks to the shock absorbers included in the legs. Globally, the robot can render a large range of impedances, from free motion to high stiffness.
Details are provided in the following article:
Laliberté, T., Abdallah, M. and Gosselin, C, 2023, "A backdrivable 6-dof parallel robot for sensorless dynamically interactive tasks", to appear in Robotics and Computer-Integrated Manufacturing.
Cette vidéo présente un robot parallèle rétroentraînable à 6 degrés de liberté qui peut interagir avec son environnement sans nécessiter l’utilisation d'un capteur d'effort. Grâce à son architecture parallèle, le robot a une faible inertie et inclut des actionneurs relativement forts. De plus, les transmissions par courroie crantée à faible rapport de réduction (3:1) augmentent le couple disponible, mais avec un effet minimal sur la friction et l'inertie. La performance dynamique du robot est démontrée par plusieurs trajectoires. Ensuite, différentes combinaisons de compliance Cartésienne, ainsi que la compensation de gravité et les murs virtuels, sont présentés. De forts impacts peuvent être appliqués pour l'assemblage de composantes sans endommager le robot, grâce aux amortisseurs inclus dans les jambes. Globalement, le robot peut produire une large plage d'impédances, allant du mouvement libre à une grande rigidité. - วิทยาศาสตร์และเทคโนโลยี
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Oh those were shock absorbers. Nice touch.
It looks fricking adorable while desperately trying to hammer in that nail
These videos are brilliant
I should call her
Wow, beautiful
Amazing!
That'd pretty cool!
Coming to a Terminator near you
😮😮😮👍👍👏👏🙏👌👌
Sick ! 2ième Itération du modèle de David ?
hi my friend . i built a 6 dof parallel robot used high speed servo motor and stm32 uc . i detected roll and pitch angles and calibrated servo motors . now i want have relationships for balance robot . can you help me please ? thanks
Is the six arms support a linear actuator ? What is their role ?
Shock absorbers, according to the video :)
A constrained upside down delta 3d kinematics? The big difference, is the offset shaft on rotary disc, in the place of slides on linear guides. The advantage is better range of motion, higher power transfer and compactness(a planetary, or harmonic gear box, could improve it further).
The compromise is the complex programming, limited range of motion along a single axis and limited precision in maintaining a tilt at end of arms, and need for advanced and high powered motion contol MCU(s). IMHO
This robot is closer to the Hexa kinematics with the difference that it has coincidental joints on the mobile platform. With assumed planar platform, the number of exact complex solutions could be 36 for the forward kinematics problem.
Drones instead of construction workers now eh?
can you name the motors to us?
The motors are EC 90 flat 260 W from Maxon
@@robotics_lab_ulavalthanks a lot
You have been allocated N-million dollars for development, what can your robot do?
2:04; 2:13
Why does it look so funny, especially with sound 😂