RT1 - Pair of Modular Robots
Description
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Many industrial applications that rely on robotic assistance require different tasks to be intermittently performed. This need is not met by existing industrial robots due to design constraints which preclude convenient conversion of the robot from one task to another. RT1 is a modular and reconfigurable robot that can be used in those circumstances. The modular joints can be connected to yield various configurations of robots, for a great variety of industrial tasks.
The system is offered as a dual arm comprised of at least two cooperating robotic manipulators, each having several modular rotary joints. The two manipulators mimic human arms in dual arm dexterous manipulation. Each manipulator may be disassembled and reassembled to assume a multitude of configurations. RT-1 can be useful in three specific areas:
- Automated manufacturing of various products of different geometry in small batches which require frequent changes in robot configuration
- Automation of complex tasks that cannot be performed by a single state-of-the-art manipulator
- Doubling the throughput of an existing automated cell that employs a single manipulator.
The system is controlled by an expandable and modular real-time computer. A patent has been granted for RT1.
- Module housing provides one input and two output connections movable with respect to each other.
- Module includes a DC brushless motor, harmonic cup drive, position and torque sensors.
- Computer architecture based on nodes: each node includes a host computer and parallel I/O modules.
- Node is based on RISC processor.
- Each node controls 8 joints @ 1 KHz.