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Design and implementation of a spherical joint for mobile manipulators

: Fröhlich, Tim; Reiser, Ulrich

Postprint urn:nbn:de:0011-n-4024331 (13 MByte PDF)
MD5 Fingerprint: fcb281e2146b0a1f98d81f035ed27062
Created on: 15.7.2016

Verl, Alexander (Chairman, Tagungspräsident); Dragan, Mihai (Programmkomitee); Hägele, Martin (Programmkomitee) ; International Federation of Robotics; Deutsche Gesellschaft für Robotik -DGR-; Informationstechnische Gesellschaft -ITG-; Verband Deutscher Maschinen- und Anlagenbau e.V. -VDMA-, Fachverband Robotik und Automation, Frankfurt/Main; Fraunhofer-Institut für Produktionstechnik und Automatisierung -IPA-, Stuttgart:
47th International Symposium on Robotics 2016 : Robotics in the Era of Digitalization. June 21-22, 2016, Munich, Germany
Berlin: VDE-Verlag, 2016
ISBN: 978-3-8007-4231-8
International Symposium on Robotics (ISR) <47, 2016, München>
Conference Paper, Electronic Publication
Fraunhofer IPA ()
Service Robot; Serviceroboter; Gelenkmechanik; Care-O-bot®; Kinematik

The design of a service robot from scratch, that is able to act in usual human environments, is a challenging task. In this paper, the design of a 3-DOF joint is presented that can be used as torso, neck or wrist joint for a mobile manipulating service robot. As torso joint, it extends the workspace of manipulators while keeping the robot stable, as neck joint it can increase the field of view in case of head-mounted sensors. Thanks to its round design, it facilitates safe design, despite it moves powerfully a big part of the robot. The coupled mechanism reduces joint torques and thereby power consumption, costs and space needed for the construction. The 3-DOF rotation around a virtual point also enables gestures and agile movements.