| Article ID | Journal | Published Year | Pages | File Type |
|---|---|---|---|---|
| 709490 | IFAC Proceedings Volumes | 2013 | 6 Pages |
Abstract
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.
Related Topics
Physical Sciences and Engineering
Engineering
Computational Mechanics
