Research and implementation of a new 6-DOF light-weight robot

Abstract

Traditional industrial robots have some weaknesses such as low payload-weight, high power consumption and high cost. These drawbacks limit their applications in such areas, special application, service and surgical robots. To improve these shortcomings, a new kind 6-DOF light-weight robot was designed based on modular joints and modular construction. This paper discusses the general requirements of the light-weight robots. Based on these requirements the novel robot is designed. The new robot is described from two aspects, mechanical design and control system. A prototype robot had developed and a joint performance test platform had designed. Position and velocity tests had conducted to evaluate the performance of the prototype robot. Test results showed that the prototype worked well.