Bernd Gombert

On a Unified Concept for a New Generation of Light-Weight Robots

The paper outlines a concept for the design of a new generation of light weight robots using an integrated and unified approach for all relevant elements. A light multisensory gripper as the critical end-mass of any robot is presented that contains different-type redundant force-torque sensors, tactile arrays, 9 laser-range-finders including a scanner, and a tiny stereo-camera. A new electrical gripper drive has been developed, the weight to grasp force ratio of which aimed at an improvement factor of 5–10 compared to hitherto known systems. The same order of improvement has been the design goal for a new modular system of light-weight arms, the joint drives being integrated into ultra-light carbon-fibre-grid structures. These joint drives — as well as the gripper drives — are based on a complete redesign of the control system of commercially available stepping motors that turns them into electronically commutated high-speed and highly dynamics dc-motors, and a new type of light, compact gearing with reduction rates of 600 and more easily achievable.