BionicMobileAssistant Mobile robot system with pneumatic gripping hand For the BionicMobileAssistant, the BionicSoftHand 2.0 is combined with a mobile ballbot and a lightweight, electric robot arm – the DynaArm. Thanks to model-based force control and control algorithms to compensate for dynamic effects, the arm can react well to external influences and thus interact very sensitively with its environment. Dynamic robot arm With the DynaArm, fast and dynamic movements are possible. This is ensured by its lightweight design with highly integrated drive modules weighing only one kilogram. In these so-called DynaDrives, the motor, gear unit, motor control electronics and sensors are installed in a very small space. High power density In addition, the robot arm has a high power density which, with 1 kW at 60 Nm drive torque, far exceeds that of conventional industrial robots. It is controlled by the ballbot via an EtherCAT communication bus. Thanks to its modular design, the DynaArm can be quickly put into operation and easily maintained. Mobile robot application with special drive For the ballbot, the developers rely on an ingenious drive concept: the robot balances on a ball driven by three omniwheels. This allows the BionicMobileAssistant to manoeuvre in any direction. The robot only touches the ground at one point at a time and can therefore navigate through narrow passages. In order to maintain its balance, it must move continuously. The planning and coordination of the movements are carried out using planning and control algorithms that are stored on a powerful computer in the body of the ballbot. The stability of the mobile robot is purely dynamic – in case of external influences, the ballbot can quickly set the ball in rotation and thus keep its balance. Using an inertial measuring unit and position encoders on the wheels, it records its movements and the relative inclination of the system. Based on this data, an optimisation program calculates how the robot and arm must move to bring the hand into the target position and stabilise the robot at the same time. 01 02 6 Festo SE & Co. KG
RkJQdWJsaXNoZXIy NzczNDE0