Overview
Developing a general-purpose cost-effective dexterous telerobotic system requires careful selection of raw materials, subassemblies, components and manufacturing processes. Page 5 ‘s efforts have resulted in the manipulator arm CED (cost-effective dexterity) and the wearable remote control device RIC (remote intuitive controller). CED is intrinsically safe due to its 3 kg (6.6 lbs.) mass of the moving arm parts and can perform telemanipulation without the use of a host computer when used with the upcoming remote intuitive controller (RIC). RIC sets a new standard for practicality in lightweight exoskeletal master controllers due to being optimized for cost, ergonomics and precision in tracking operator hand and arm motions.
General Features of the Cedric System
- All-electric operation through use of high-end hobby servos and R/C (radio control) transmitters and receivers.
- Strategic use of TeflonTM (polytetrafluoroethylene) and DelrinTM (polyoxymethylene) for bushings and guide rails.
- Extensive use of unmodified commercially-available components and hardware, such as wire rope for tendons, precision ball bearings, pulleys, pins and TorxTM fasteners (there are only a few purchased items such as servo pulleys that are modified by Page 5 for use in Cedric).
Key CED Features
- All hand, wrist, arm and shoulder joints tendon-operated with servos distributed throughout the forearm and upper arm to control 22 of the 24 independently controlled joints; two additional servos actuators are located in the shoulder.
- Incorporation of air cooling ducts within the ABS (acrylonitrile butadien styrene) plastic skeletal arm structure and provision for optional water cooling of servos.
- Finger skeletal architecture, similar in size and shape to its human counterpart, allows use of gloves, skin or snap-on finger shells & resilient fingertip pads.
Key RIC Features
- Close mapping of joint movement between wearable remote control device (RIC) and manipulator arm (CED) filters out joint interaction during telemanipulations.
- Quick and simple size adjustability and innovative easy-on/easy-off features.
Detailed features and specifications for RIC will be published upon its market introduction, scheduled for August 2009. A neck-mounted tilt, rotate and pan camera platform ia scheduled for September 2009 introduction.
CED Feature Photos
Click thumbnails for larger view |
 |
 |
 |
 |
 |
 |
 |
CED Logo: Cost-effective dexterity |
Top view of snap-on finger shells |
Bottom view of finger shells |
Top view of finger design |
Bottom view of fingers |
Water cooling exhaust vents |
Front view of body shells & display stand |
CED Specifications
CED Specifications
Subject to change without notice. |
| Item |
Description & Comments |
| Finger Shells |
Comprised of ABS plastic, the finger shells are designed for attaching application-specific finger pads and/or force and tactile sensors. |
| Skeletal Structure |
ABS (acrylonitrile butadien styrene) space frame assembled using TorxTM fasteners. |
| Tendon Guideways |
Series of articulated, nested discs with radial hole pattern running through wrist machined from Delrin AFTM. |
| Joint Actuation |
Finger and thumb joints are pull-only for flexion, elastic cord is used for extension.
Pull-pull is used for wrist, elbow and shoulder joints. |
| Servos |
Hitec Inc. HSR-5990TG Robot Servo; 30.0 Kg.cm (416.6 oz.in) torque and 0.14 sec./60 deg. 7.4 volts, titanium gears and thermal overload protected (click www.hitecrcd.com/servos/show?name=HSR-5990TG for more detail on features and specifications. |
| Tendons |
7 x 19 Class Strand Core Stainless Steel:
0.813 mm (0.032 in.) dia. used in finger and wrist joints.
0.965 mm (0.038 in.) dia. used in elbow and one shoulder joint.
1.189 mm (0.047 in.) dia. used for two shoulder joints.
|
| Hardware |
Commercially-available items include steel thrust bearings, ABEC-5 precision ball bearings, stainless steel fixture pins, DelrinTM pulleys and TorxTM fasteners.
Modified aluminum servo wheels are used for highly-stressed joints.
Bushings machined from TeflonTM and DelrinTM are used in several locations. |
| Cooling System |
Integral air-cooling ducts standard.
Optional clamp-on servo jackets for water cooling under development. |
Joint No.
(Refer to dia. below) |
1 |
2 |
3 |
4 |
5 |
6 |
7 |
8 |
Torque
Kg.cm (oz.in) |
25.7
(356.9) |
27.9
(387.4) |
37.9
(526.3) |
43.4
(602.7) |
21.7
(301.3) |
25.8
(358.3) |
27.1
(376.3) |
43.0
(597.1) |
Range of Motion
(Deg.) |
85 |
90 |
85 |
30 |
90 |
70 |
50 |
50 |
| Joint No. |
9 |
10 |
11 |
12 |
13 |
14 |
15 |
16 |
Torque
Kg.cm (oz.in) |
35.3
(490.2) |
55.5
(770.7) |
59.1
(820.7) |
39.4
(547.1) |
103.6
(1438.7) |
119.8
(1663.7) |
86.7
(1204.0) |
350.0
(4860.4) |
Range of Motion
(Deg.) |
30 |
90 |
60 |
100 |
100 |
60 |
85 |
90 |
Notes:- Joint torques 1-4 are identical for all three fingers. Range of motion listed is the total operating angle for each joint.
- Torques listed are calculated and do not include transmission losses due to flexing of cable around pulleys and friction generated in tendon guideways. Measured torques for each joint will be published not later than the time of product launch.
|
 |
