Development of a human size and strength compliant bi-manual platform for realistic heavy manipulation tasks

摘要

Developing a high physical performance robotic manipulation platform with considerable power density, strength and resilience is not a trivial task and frequently leads to heavy and bulky systems unable to meet the application requirements, i.e. such robots should have human body size compatibility to work in infrastructures designed for humans. In this work we present a new high performance human size and weight compatible bi-manual manipulation platform that demonstrates notable physical strength and power capabilities. To attain this performance, design features including custom high performance elastic drives and robust light weight structure principles were considered resulting in large payload to robot mass ratio that is greater than 1.5 for short time heavy payloads. The design principles and mechanics of the upper body bi-manual robot are presented providing details on the solutions adopted for the various mechatronics components. The performance of the system actuation and the strength capacity of the overall platform is verified through the execution of heavy payload motion and impact experiments.