RCL, Russian Innovate Science & technology Rover Centre (St-Petersburg, Russia) , STC `ROCAD, State University - SUT and Joint Stock Company Russian Mobile Vehicle Engineering Institute (JSC VNII Transmash, St-Petersburg, Russia) during last 25 years developed more 20 on-board manipulators for high-mobility robots and planetary rovers with total mass/payload from 1 to 100 kg. These were the manipulators for Soviet Chernobyl robot, for a Finish industrial robot and for Russian and European demonstrators of Mars rovers. All mechanical systems, including special motor and gears (harmonic, planetary, worm, linear) were developed by RCL , ROCAD and VNIITransmash.
First five 5-DOF manipulators were developed in the period 1985-1990 for a special industrial robots ( STR-1, manipulator mass - 80 kg) for Chernobyl NPP accident recovery programs. For IKI (Institute of Space Research of Russian Academy of Science) a small manipulator in frame of Russian Mars Rover Programm 1994/1996 has been developed.
In the cooperation with ESA/ESTEC there were 2 projects – development and delivery of a manipulator (manipulator mass - 3,5 kg) with 5-DOF and a locomotion platform of Lunar Rover Mock Up for the ESTEC’s project LEDA ( 1996-1998).
In the period starting from 1999 and up till now, RCL Consortium * has developed and delivered 2 manipulator projects for Helsinki University of Technology ( HUT, Helsinki, Finland) and for ESA/ESTEC:
Bogatchev A.,Kutcherenko V., Matrossov S. and other. Manipulators for industrial high-mobility robots and planetary rovers, Proceeding of 2010 IEEE ISIE International Symposium on Industrial Electronic, Bari, Italy
There are more ten year’s experience for development special electromechanics for underwater application.
|Total mass, kg||960||220||180||75|
|Chassis mass, kg||600||160||120||38|
|Type of manipulator||Classic arm with replaceable gripper/tools||Classic arm with tools/instruments permanently attached to a revolver table||Centaur type (body and two arms with repla- ceable grippers /tools)|
|Manipulator mass, Mm, kg (without control unit)||80||3||3,5||22 body - 6 kg, arm – 8 kg each|
|Degrees of freedom||5||5||5||10 Body–2 DOF, arm–5 DOF each|
|Load capacity, Ml, kg (At maximum extent of, m)||40 (1,6 m)||2,5 (0,8 m)||2,0 (0,8m)||5 (per each arm, 1 m)|
|Drive composition||DC motor+tacho, motor brake, planetary+harmonic gear, output shaft position potentiometer, limit switches||DC brushless motor+Hall sensors, planetary gear, output shaft brake, output shaft position potentiometer||DC motor, planetary gear, output shaft brake, output shaft position potentiometer||DC motor+encoder, spur gear, spur gear brake, harmonic gear, output shaft position potentiometer|
|Drive motor power, W (for motors with different power)||40/10||2,3||2,3||150/20|
|Specific load capacity at maximum extent (Ml / Mm)||0,5||0,8||0,6||0,45 0,65 per arm (without body)|
|Maximum velocity at the wrist point, m/s||0,4||0,1||0,1||1|
In the period 2012-2013гг starting two new projects : develop of special manipulators for Moscow Robotic Centre ( Russia ) and for China ( 5-6 DoF with mass 25-50 kg and payload 20-25kg (1,5m)
Materials prepared 2013.
For future info please contact with Serguei Matrossov and Alexei Bogatchev