AMIGO Arms

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| Copyright Technische Universiteit Eindhoven 2011.
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| This documentation describes Open Hardware and is licensed under the <br>
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This documentation describes Open Hardware and is licensed under the <br>
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CERN OHL v. 1.1. <br>
 
CERN OHL v. 1.1. <br>
 
You may redistribute and modify this documentation under the terms of the <br>
 
You may redistribute and modify this documentation under the terms of the <br>

Revision as of 20:19, 30 November 2011

Part Links
Author
Philips
Contact
CAD Files
Inventor
STEP
Electrical Drawings
Not Available

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
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


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


Mechanics

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


Electronics

Not Available

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