Haptic robot HIRO III
Specifications
HIRO III consist of an arm and five haptic fingers. The arm has 6 degrees of freedom (DOF), and the hand has 15 DOF - 21 DOF in total.
ARM
Three arm joints (#1, #2, #3) simulate the shoulder having 3 DOF. One joint (#4) with 1 DOF is for the elbow. The rest of two joints (#5 and #6) with 2 DOF represent wrist. Joint angles are given in the table bellow.
Range of Movement (deg) | |
The first joint | ±110 |
The second joint | -125...0 |
The third joint | 0...+145 |
The fourth joint | ±90 |
The fifth joint | ±90 |
The sixth joint | ±60 |
Arm's workspace is shown in the following scheme.
HAND
HIRO III hand has five fingers. Each of five fingers has three joints with 1 DOF per joint - 15 DOF in total. The design of four fingers - index, middle, ring, small - is the same. The table bellow presents the range of joints' movements.
|
Range of Movement (deg) |
The first joint |
±30 |
The second joint |
-30...+90 |
The third joint |
0...+112 |
Thumb desing and joints' range is different, and given bellow.
|
Range of Movement (deg) |
The first joint |
±36 |
The second joint |
-35...+90 |
The third joint |
0...+112 |
The three-axis sensors are mounted at the fingertips to detect the forces. Force resolution is 0.01N, maximum value - xxxN.
The workspace of the finger is shown in the following scheme.
HIRO III principal data
Weight of the hand and arm - xxx kg
Number of DOF - 21
User displayed force - up to 5 N per finger
HIRO III operating system - ART Linux
Sampling time - 1 ms
Power consumption - 1500 W