ChingHengWang / next_robot_project

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Methodology Survey #1

Open ChingHengWang opened 8 years ago

ChingHengWang commented 8 years ago

Methodology Survey - 1

Function : More Flexible Axis (Waist D.O.F.)

Advantage :

more large arm workspace
more human-like
grasp the object on the floor
more large camera view
Function : Transmission

transmission method
coupling
- high effiiciency , but need high accuracy for axis alignment
belt
- flat-belt : worst
- v-belt : better than flat-belt
- cogged-belt/synchronous-belt :
- high efficiency 95%~98%
- noise ?
- chain : no Deform , but heavy so efficiency 85%
gear :
- near position between motor and load
- need lubricating oil
  Reference
http://hem.org.tw/images/files/DM/Motor09.pdf

ChingHengWang commented 8 years ago

Wrist Differential Gears : http://www.flickriver.com/photos/chris_malcolm/501249154/ bendix wrist mechanism

lightly design mech

ChingHengWang commented 8 years ago

工研院技術盤點 http://www.pmc.org.tw/upload/files/R0/R01.pdf

ChingHengWang commented 8 years ago

Robot Arm on How it's Made
Inside Axis 4, 5 & 6 of KUKA KR5 Robot

ChingHengWang commented 8 years ago

Example :

REEM Robot : https://www.xsens.com/customer-cases/reem-c-walking-stability-improved-mti-30-ahrs/
- DataSheet: https://drive.google.com/file/d/0B134T1DTCk6tSnhTZTdORmtqQjQ/view?usp=sharing
mexone : cahin transimission
simon
pepper