Abstract
The conventional industrial manipulator has some drawbacks such as low payload-weight ratio, bulky structure and high power consumption, which limit their applications in such areas a space, anti-terrorism, service and medical robots. To overcome these shortcomings, a novel lightweight arm was developed based on modular joints, modular connection and light shaft structures. This paper discusses the general requirements for lightweight robots, upon which the new robot was designed. Both mechanics and electronics designs are presented. The development work of a prototype is described. Preliminary tests were conducted to evaluate the performance of the light weight arm. The results demonstrate the good performances of the prototype and validate the feasibility of the new robot system.
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