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Harmonic Arm 2 is a lightweight manipulator arm incorporating the latest technologies in motors, drives, sensors, brakes, and fast bus system based on the CAN protocol. All cables are located inside the robot and not visible. The position is precisely analyzed by both relative encoders near the motors and absolute encoders outside the drives.
The weight of Harmonic Arm 2 is around 14 kg and the payload is up to 5 kg. This is one of the best relationships available, and fully designed to be used on mobile systems.
To reduce the weight, some parts are produced in carbon fibres instead of aluminium. It uses brushless motors and requires voltage of around 40 V. This arm uses DSP chips from Texas Instruments. The two-finger gripper includes several sensors of different modalities (e.g. infrared, force, conductivity, color, depending on the application). The working radius is about 1 m, and can be extended.
Applications of Harmonic Arm 2 include:
- Research
- Space
- Service Robotics
- Manipulation of Dangerous Materials
- Automation in Industry, Medicine and Health Care
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Structure
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Folding Arm
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Construction
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Anodized Aluminum
Partially carbon fiber
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Controlled Axes
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5 - 6
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Payload
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3 - 5 kg
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Horizontal Reach
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80 - 100 cm
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Vertical Reach
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110 - 200 cm (with prolongation)
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Maximum Speed
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90 deg/sec for each joint
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Approximate Mass
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14 kg
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Brakes
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Joints 1-4
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Power Consumption
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600 VA
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Repeatability
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± 0.1 mm
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Motor Controller
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Integrated linear feed back controllers
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Available sensors for the joints
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Absolute and relative position encoders, current consumption
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Gripper
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Integrated electronics and sensors of different modalities, active infrared, force, conductivity, position encoders
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Controller Specifications
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Structure
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Integrated communication and motor control
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MMI
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Any computer device
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Control Method
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Distributed Controllers
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Driving Method
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Brushless motors
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Internal Protocol
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CAN
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Language
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C++, Visual Basic
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Communication
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CAN Bus, Serial Bus
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Timer Settings
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Programmable
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Self-Diagnosis
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Self-Calibration
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Ontario, Canada K0A 1L0
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