Mechanical Design and Kinematic Analysis of a 10 D.O.F. Robot Manipulator

In this paper, a 10 degree-of-freedom (D.O.F.) robot manipulator consisting of a 6 D.O.F. light-weight arm and a 4 D.O.F. cable driven hand is presented with the morphological analysis. The robot manipulator, Roppie, has been developed as a service robot by Industrial Technology Research Institute (ITRI) in Taiwan. Its main features are 10 degrees of freedom, light-weight design, and flexible object manipulation by integrating motion control and vision feature recognition. Its weight is 5.7 kg, its payload is 1.2 kg, and its tip point velocity is up to 1 m/s.