NDLI: A low-cost compliant 7-DOF robotic manipulator

Content Provider	IEEE Xplore Digital Library
Author	Quigley, M. Asbeck, A. Ng, A.
Copyright Year	2011
Description	Author affiliation: Department of Computer Science, Stanford University, CA 94305, USA (Quigley, M.; Asbeck, A.; Ng, A.)
Abstract	We present the design of a new low-cost series-elastic robotic arm. The arm is unique in that it achieves reasonable performance for the envisioned tasks (backlash-free, sub-3mm repeatability, moves at 1.5m/s, 2kg payload) but with a significantly lower parts cost than comparable manipulators. The paper explores the design decisions and tradeoffs made in achieving this combination of price and performance. A new, human-safe design is also described: the arm uses stepper motors with a series-elastic transmission for the proximal four degrees of freedom (DOF), and non-series-elastic robotics servos for the distal three DOF. Tradeoffs of the design are discussed, especially in the areas of human safety and control bandwidth. The arm is used to demonstrate pancake cooking (pouring batter, flipping pancakes), using the intrinsic compliance of the arm to aid in interaction with objects.
Starting Page	6051
Ending Page	6058
File Size	1947131
Page Count	8
File Format	PDF
ISBN	9781612843865
ISSN	10504729
e-ISBN	9781612843858
DOI	10.1109/ICRA.2011.5980332
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2011-05-09
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Manipulators Joints Robot sensing systems Payloads DC motors Torque
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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