A backdrivable 6-dof parallel robot for sensorless dynamically interactive tasks
This video presents a backdrivable 6-degree-of-freedom parallel robot that can interact with its environment without the need of a force-torque sensor. Because of its parallel architecture, the robot has a low inertia and includes relatively high-torque actuators. Moreover, the timing belt transmissions with a small ratio (3:1) increase the torque available, but with a minimal effect on friction and inertia. The dynamic performance of the robot is demonstrated by several trajectories. Then, different patterns of Cartesian compliance, as well as gravity compensation and virtual walls, are presented. Large impacts can be applied for the assembly of components without damaging the robot, thanks to the shock absorbers included in the legs. Globally, the robot can render a large range of impedances, from free motion to high stiffness.
Details are provided in the following article:
Laliberté, T., Abdallah, M. and Gosselin, C, 2023, “A backdrivable 6-dof parallel robot for sensorless dynamically interactive tasks“, to appear in Robotics and Computer-Integrated Manufacturing.
Cette vidéo présente un robot parallèle rétroentraînable à 6 degrés de liberté qui peut interagir avec son environnement sans nécessiter l’utilisation d’un capteur d’effort. Grâce à son architecture parallèle, le robot a une faible inertie et inclut des actionneurs relativement forts. De plus, les transmissions par courroie crantée à faible rapport de réduction (3:1) augmentent le couple disponible, mais avec un effet minimal sur la friction et l’inertie. La performance dynamique du robot est démontrée par plusieurs trajectoires. Ensuite, différentes combinaisons de compliance Cartésienne, ainsi que la compensation de gravité et les murs virtuels, sont présentés. De forts impacts peuvent être appliqués pour l’assemblage de composantes sans endommager le robot, grâce aux amortisseurs inclus dans les jambes. Globalement, le robot peut produire une large plage d’impédances, allant du mouvement libre à une grande rigidité.
1 view
82
16
1 month ago 00:05:40 1
3037 S13 - MEIHAN SPORTSLAND E COURSE RAW
5 months ago 00:37:04 1
MX-5 Miatas Compared - Which is best? - TV Season 1 Ep. 2 | Everyday Driver
5 months ago 00:01:38 21
Kyrie Irving’s CLUTCH 3-pointer puts the Lakers away, avoids blowing 20-point lead | NBA on ESPN
7 months ago 00:02:38 1
A Modular, Backdrivable Ankle Exoskeleton for Assisting the Activities of Daily Life
7 months ago 00:02:36 1
A backdrivable 6-dof parallel robot for sensorless dynamically interactive tasks
7 months ago 00:04:53 1
Stars On 45 - Sugar, Sugar - The Beatles Medley (Original Video HD)
8 months ago 00:02:44 1
Drive: Stabbed to death HD CLIP
9 months ago 01:05:26 1
Срочно Продавай Tank 300. Обзор Обзоров Танк 300 AcademeG ProDrive Не Тормози и т.д Land Cruiser 250
11 months ago 00:03:15 1
Backdrivable Parallel SCARA robot for pHRI including built-in gripper with unlimited rotation
12 months ago 01:52:21 1
Learn How to Draw & Paint “SPRINGTIME FLOWER TRUCK“ with Acrylic -Paint & Sip at Home-Fun Art Lesson
1 year ago 00:03:19 1
The Beatles Stars on 45 Medley
1 year ago 00:01:56 1
How to Roll Back Drivers with Outbyte Driver Updater
1 year ago 00:07:13 1
Sean & Dee - Red Giant (Original Mix) [Taboo]
1 year ago 00:13:56 1
Robot Dog V3 - 3D Printed & Open Source #1
1 year ago 00:01:09 1
Backdrivable Kinematically Redundant (6+3)-DOF Hybrid Parallel Robot – Part 1: Trajectory Control
2 years ago 00:06:28 1
GgDeX - The Corner
2 years ago 00:00:55 1
Aeria Mechanica + DC Motor = Unlimited Runtime!
2 years ago 00:00:50 1
Optimal Energy Shaping Control for a Backdrivable Hip Exoskeleton
2 years ago 00:01:50 3
Backdrivable Macro-mini robotic system for intuitive pHRI