Robotics design has come a long way in the last decade, and at the heart of some of the most advanced robotic systems lies the intricately designed mechatronic subsystem.
This subsystem played a pivotal role in defining robot interactions and capabilities for a 6-degree-of-freedom parallel robot designed at the Laboratoire Robotique at the Université Laval, Quebec, QC Canada.
A standout feature of this design is its mechanical backdrivability.
Achieving this involves careful tuning between a low reduction ratio and the effective load inertia based on a design choice that obviates the need for external force/torque sensors.
The maxon EC90fl flat servo motors form a crucial part of this mechatronic subsystem.
Recognized for their performance and durability, these motors empower the robot to tackle a spectrum of dynamic tasks with finesse.
In tandem with these motors, the DZEANTU servo drives from Advanced Motion Controls (AMC) fortify the system's control architecture. Together, they form a mechatronic subsystem that can seamlessly alternate between tasks, from those demanding pinpoint accuracy to those necessitating brute force.
Embedded shock absorbers within the robot's legs amplify its resilience during high-intensity tasks. Designed to harmonize with the power and precision of the maxon motors and AMC drives, these absorbers shield the robot's integral components during operations like hammering. A notable illustration of the system's prowess can be seen in tasks like peg insertions. The location of the rotation center plays a pivotal role in these applications, showcasing the finesse achieved by the mechatronic subsystem.
Another compelling feature is the robot's ability to apply impacts, facilitated by the high dynamic performance achieved through the motor and drive combination. Whether it's the installation of a vehicle control module or inserting a nail with a custom-made hammer attachment, the robot showcases its versatility in diverse scenarios.
The confluence of the maxon EC90fl servo motors with the DZEANTU servo drives from Advanced Motion Controls exemplifies state-of-the-art mechatronic design. Their joint capabilities are central to the robot's impressive performance and adaptive interactions.
To dive deeper into this design's research, mechanics, and extensive applications, explore the original article here.
