A low-cost compliant 7-DOF robotic manipulator

Abstract

We present the design of a new low-cost series-elastic robotic arm. The arm is unique in that it achieves reasonable performance for the envisioned tasks (backlash-free, sub-3mm repeatability, moves at 1.5m/s, 2kg payload) but with a significantly lower parts cost than comparable manipulators. The paper explores the design decisions and tradeoffs made in… (More)
DOI: 10.1109/ICRA.2011.5980332

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