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Humaniform Robotic Arm (HRA)
Project
The humaniform Robotic Arm (HRA)
demonstrates all the key technologies of the humaniform robotics
approach:
- Exceptional power/weight ratio
- Lightweight
- Compact
- Energy efficient
- Smooth
- Safe
Structure
The HRA mimics the musculo-skeltal
system of the human arm.Physically joints and muscles occupy the
same space as in the human system. We modelled a single 3-axis joint
(shoulder joint) and a single 1-axis joint (elbow joint). The three
axis joint has the same range of movement as a human shoulder joint
which is nearly 180 deg. in two planes and around 60 deg in the
third. The elbow joint has 180 deg. of movement in a single
plane.
Musculature
The HRA features the new humaniform muscle technology,
which sets new standards in actuator performance. Muscles are
arranged antagonistically (opposing pairs) in biomechanically
similar placements to that of human muscles.
Control
To control the HRA we used 15 muscles
arranged over 4-dof (degrees of freedom). The Humaniform Control System
uses scaleable digilog (Hybrid digital/analog processing elements)
technology developed by Merlin Systems.
Applications
The Humaniform Robot Arm is ideally
suited to applications where weight and space are at a premium
without sacrificing lifting ability. We have listed a few example
uses:
- An arm on the front of a wheel
chair could be used to open a door.
- Attached to a bed objects just out
of range could be reached.
- We believe the arm is an ideal
replacement technology for existing industrial robot arms where it
would be advantageous to have people working in closer proximity
to a robot arm. The assembly line of the future?
- On vehicles and other robots where
the ability to lift heavy objects is required but space and weight
are at a premium.
- A version of the arm could be
adapted for use in prosthetics.
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