AMIGO Arms
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− | | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part | + | | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Part Links''' |
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− | | style="background: | + | | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |
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− | | style="background:white; color:black;" align="left" | [http://www. | + | | style="background:white; color:black;" align="left" | [http://www.innovationservices.philips.com/mechatronics/robotics Philips] |
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− | | style="background:white; color:black;" align="left" | ? | + | | style="background:white; color:black;" align="left" | [http://www.innovationservices.philips.com/contact-us?page_url=node/369 Contact] |
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− | | style="background: | + | | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |
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− | | style="background: | + | | style="background:white; color:black;" align="left" | [https://gitlab.tue.nl/tech-united-eindhoven/rop/-/tree/master/AMIGO/PERA/Inventor/ Inventor] |
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− | | style="background:white; color:black;" align="left" | . | + | | style="background:white; color:black;" align="left" | [https://gitlab.tue.nl/tech-united-eindhoven/rop/-/tree/master/AMIGO/PERA/STEP/ STEP] |
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− | | style="background:white; color:black;" align="left" | . | + | | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electrical Drawings''' |
+ | |- | ||
+ | | style="background:white; color:black;" align="left" | Not Available | ||
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+ | | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' | ||
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+ | | style="background:white; color:black;" align="left" | [https://gitlab.tue.nl/tech-united-eindhoven/rop/-/tree/master/AMIGO/License/ License Files] | ||
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= Part Summary = | = Part Summary = | ||
− | |||
AMIGO has been equipped with two Philips Experimental Robotic Arms (PERA) to be able to grasp objects in a household environment. | AMIGO has been equipped with two Philips Experimental Robotic Arms (PERA) to be able to grasp objects in a household environment. | ||
* Author: [http://www.research.philips.com/ Philips] | * Author: [http://www.research.philips.com/ Philips] | ||
− | * Repository: [ | + | * License: CERN OHL v.1.1 |
− | * Software: [ | + | * Repository: [https://gitlab.tue.nl/tech-united-eindhoven/rop/-/tree/master/AMIGO/PERA https://gitlab.tue.nl/tech-united-eindhoven/rop/-/tree/master/AMIGO/PERA] |
+ | * Software: [http://www.ros.org/wiki/Robots/AMIGO http://www.ros.org/wiki/Robots/AMIGO] | ||
= Overview = | = Overview = | ||
− | 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 | + | 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. <br> |
− | + | Figures 1 and 2 show estimated CAD models of the arms. | |
{| style="background: transparent; margin: auto;" | {| style="background: transparent; margin: auto;" | ||
− | | [[Image:AMIGO right arm.jpg|400px|thumb|center|Figure 1:AMIGO's right arm]] | + | | [[Image:AMIGO right arm.jpg|400px|thumb|center|Figure 1: AMIGO's right arm]] |
− | | [[Image:AMIGO left arm.jpg|400px|thumb|center|Figure 2:AMIGO's left arm]] | + | | [[Image:AMIGO left arm.jpg|400px|thumb|center|Figure 2: AMIGO's left arm]] |
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− | [[Image:AMIGO Upper Body.jpg|500px|thumb|center|Figure 3:Mounting of the PERA's to the torso]] | + | = Specifications = |
+ | * Weight: +/- 6.9 kg (per arm) | ||
+ | |||
+ | Arm DOFs | ||
+ | * 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 | ||
+ | |||
+ | |||
+ | === Communication === | ||
+ | * USB | ||
+ | |||
+ | |||
+ | === Software === | ||
+ | * Ubuntu | ||
+ | * ROS (Robot Operating System) | ||
+ | * Programming: C++ | ||
+ | |||
+ | = Mechatronics = | ||
+ | === Assembly of the Arms to the Torso === | ||
+ | The arms are bolted to the sides of the upper body ([[AMIGO Torso|torso]]) (figure 3). 8 M5 bolts are used for to secure their position. | ||
+ | |||
+ | [[Image:AMIGO Upper Body.jpg|500px|thumb|center|Figure 3: Mounting of the PERA's to the torso]] | ||
+ | |||
+ | |||
+ | = License = | ||
+ | Copyright Technische Universiteit Eindhoven 2011. <br> | ||
+ | <br> | ||
+ | This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> | ||
+ | You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> | ||
+ | This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions. |
Latest revision as of 12:36, 11 August 2022
Part Links |
Author |
Philips |
Contact |
CAD Files |
Inventor |
STEP |
Electrical Drawings |
Not Available |
License |
License Files |
AMIGO: Head | Arms | Torso | Base
Contents |
Part Summary
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://gitlab.tue.nl/tech-united-eindhoven/rop/-/tree/master/AMIGO/PERA
- Software: http://www.ros.org/wiki/Robots/AMIGO
Overview
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.
Specifications
- Weight: +/- 6.9 kg (per arm)
Arm DOFs
- 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
Communication
- USB
Software
- Ubuntu
- ROS (Robot Operating System)
- Programming: C++
Mechatronics
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.
License
Copyright Technische Universiteit Eindhoven 2011.
This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1.
You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl).
This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions.