AMIGO has been equipped with two Philips Experimental Robotic Arms (PERA) to be able to grasp objects in a household environment.
- Author: Philips
- License: CERN OHL v.1.1
- Repository: https://robotics.wtb.tue.nl/svn/rop/AMIGO/PERA
- Software: http://www.ros.org/wiki/Robots/AMIGO
The upper body is equipped with two arms, bolted onto either side (figure 3). The arms are designed by Philips and are named Philips Experimental Robotic Arms (PERA). The PERA arm is an anthropomorphic arm, i:e:, it closely resembles the human arm regarding dimensions, structure and movability. It has 7 DOF, namely 3 DOF in the spherical shoulder joint, 2 DOF in the universal elbow joint and 2 DOF in the universal wrist joint. The arm’s end effector is a two-fingered hand, containing a revolute joint between the hand link and either of the finger links. The CAD models are shown in figures 1 and 2. Not much information about the PERA's will be supplied since the knowledge behind these arms isn't open source.
Figures 1 and 2 show estimated CAD models of the arms.
- Weight: +/- 6.9 kg (per arm)
- Arm: 4
- Wrist: 3
- Gripper: 1
- Liftable force: 1.5 kg (straight arm)
Arm Link Lengths
- Upper Arm: 320 mm
- Forearm: 280 mm
- Wrist to Gripper Surface: 90 to 180mm
- Distance between shoulder joints: 438mm
Arm Range of Motion
- Shoulder yaw: 180 degrees
- Shoulder roll: 90 degrees
- Shoulder pitch: 180 degrees
- Elbow yaw: 210 degrees
- Elbow pitch: 145 degrees
- Wrist Yaw: 90 degrees
- Wrist Pitch: 114 degrees
- Gripper: 90mm max
- ROS (Robot Operating System)
- Programming: C++
Assembly of the Arms to the Torso
The arms are bolted to the sides of the upper body (torso) (figure 3). 8 M5 bolts are used for to secure their position.
Copyright Technische Universiteit Eindhoven 2011.
This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1.
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