| Design and Manufacturing of REDIESTRO 2, a Seven-Axis Manipulator (2007) | |||||||||||||
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| REDIESTRO 2 is a robotic manipulator developed within the framework of an NSERC CRD Project involving Canadair, McGill University and Concordia University. The goal of this project is to develop an advanced, highly dextrous dual-arm robotic manipulation environment that can be used for hardware and software testing and personnel training. The environment had to be designed with capabilities for a number of tasks: trajectory planning; position control; force control; impedance control; object-contact; collision-avoidance; and teleoperation. The McGill team was responsible, in the first year, for the mechanical design and manufacturing specifications of the robot. The different design stages of the whole process are recorded here. All these stages are discussed within the report, which also includes the experience that we gained during the design process. REDIESTRO 2 is a redundant, seven-revolute manipulator. Moreover, it is kinematically isotropic, which means that the condition number of its Jacobian matrix can attain a minimum value of unity within its workspace. The robot is equipped with seven harmonic-drive actuators, besides one encoder, one tachometer and one torque-sensor on each joint, plus a six-axis force sensor at the | |||||||||||||
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