AMIGO Arms

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| style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files'''
 
| style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files'''
 
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| style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/AMIGO/PERA/Inventor/ Inventor]
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| 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" | [https://robotics.wtb.tue.nl/svn/rop/AMIGO/PERA/STEP/ STEP]
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| 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:LightGrey; color:black; font-size:115%" align="left" | '''Electrical Drawings'''
 
| style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electrical Drawings'''
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| style="background:LightGrey; color:black; font-size:115%" align="left" | '''License'''
 
| style="background:LightGrey; color:black; font-size:115%" align="left" | '''License'''
 
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| style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/AMIGO/License/ License Files]
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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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* Author: [http://www.research.philips.com/ Philips]
 
* Author: [http://www.research.philips.com/ Philips]
 
* License: CERN OHL v.1.1
 
* License: CERN OHL v.1.1
* Repository: [https://robotics.wtb.tue.nl/svn/rop/AMIGO/PERA https://robotics.wtb.tue.nl/svn/rop/AMIGO/PERA]
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* 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]
 
* Software: [http://www.ros.org/wiki/Robots/AMIGO http://www.ros.org/wiki/Robots/AMIGO]
  
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* Forearm: 280 mm
 
* Forearm: 280 mm
 
* Wrist to Gripper Surface: 90 to 180mm
 
* Wrist to Gripper Surface: 90 to 180mm
* Distance between shoulder joints: 219mm
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* Distance between shoulder joints: 438mm
  
  
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* ROS (Robot Operating System)
 
* ROS (Robot Operating System)
 
* Programming: C++
 
* Programming: C++
 
  
 
= Mechatronics =
 
= Mechatronics =

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.


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.

Figure 1: AMIGO's right arm
Figure 2: AMIGO's left arm


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.

Figure 3: Mounting of the PERA's to the torso


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.

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