Design of a robot arm

I.M.H. van Haaren; P.W.M. Zutven, van; H. Nijmeijer

Design of a robot arm

I.M.H. van Haaren, P.W.M. Zutven, van (Supervisor), H. Nijmeijer (Supervisor)

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Abstract

In this report a new design for the arm of the humanoid robot TUlip is designed. The arm should enable TUlip to make the same movements as a human arm and therefore accomplish a chosen trajectory. In this trajectory the arm of TUlip moves to an object of approximately 0.5 kg and picks it up. In order to accomplish this trajectory the arm of TUlip is given 6 DOF’s this are more DOF’s than it used to have. Besides the trajectory the arm needs to accomplish it also needs to be lightweight and stiff so that the position of the arm can precisely be controlled. Also there is little space in TUlip to process the electronics.

Original language	English
Place of Publication	Eindhoven
Publisher	Eindhoven University of Technology
Number of pages	26
Publication status	Published - 2012

Publication series

Name	D&C
Volume	2012.006

Bibliographical note

BEP

Cite this

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title = "Design of a robot arm",

abstract = "In this report a new design for the arm of the humanoid robot TUlip is designed. The arm should enable TUlip to make the same movements as a human arm and therefore accomplish a chosen trajectory. In this trajectory the arm of TUlip moves to an object of approximately 0.5 kg and picks it up. In order to accomplish this trajectory the arm of TUlip is given 6 DOF{\textquoteright}s this are more DOF{\textquoteright}s than it used to have. Besides the trajectory the arm needs to accomplish it also needs to be lightweight and stiff so that the position of the arm can precisely be controlled. Also there is little space in TUlip to process the electronics.",

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AB - In this report a new design for the arm of the humanoid robot TUlip is designed. The arm should enable TUlip to make the same movements as a human arm and therefore accomplish a chosen trajectory. In this trajectory the arm of TUlip moves to an object of approximately 0.5 kg and picks it up. In order to accomplish this trajectory the arm of TUlip is given 6 DOF’s this are more DOF’s than it used to have. Besides the trajectory the arm needs to accomplish it also needs to be lightweight and stiff so that the position of the arm can precisely be controlled. Also there is little space in TUlip to process the electronics.

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PB - Eindhoven University of Technology

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Design of a robot arm

Abstract

Publication series

Bibliographical note

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