SAQIEL: Ultra-Light and Safe Manipulator with Passive 3D Wire Alignment Mechanism (2403.01803v1)

Abstract: Improving the safety of collaborative manipulators necessitates the reduction of inertia in the moving part. Within this paper, we introduce a novel approach in the form of a passive 3D wire aligner, serving as a lightweight and low-friction power transmission mechanism, thus achieving the desired low inertia in the manipulator's operation. Through the utilization of this innovation, the consolidation of hefty actuators onto the root link becomes feasible, consequently enabling a supple drive characterized by minimal friction. To demonstrate the efficacy of this device, we fabricate an ultralight 7 degrees of freedom (DoF) manipulator named SAQIEL, boasting a mere 1.5 kg weight for its moving components. Notably, to mitigate friction within SAQIEL's actuation system, we employ a distinctive mechanism that directly winds wires using motors, obviating the need for traditional gear or belt-based speed reduction mechanisms. Through a series of empirical trials, we substantiate that SAQIEL adeptly strikes balance between lightweight design, substantial payload capacity, elevated velocity, precision, and adaptability.

• The paper presents a passive 3D wire aligner integrated into a 7-DoF manipulator to achieve unmatched lightweight and low-friction performance.
• Empirical tests confirm a moving part weight of only 1.5 kg and impressive payload capacity, ensuring safe close human-robot interaction.
• The innovative design paves the way for future enhancements in power transmission efficiency and broader applications in collaborative robotics.

Innovating Manipulator Safety and Efficiency with the Passive 3D Wire Aligner

Introduction to SAQIEL

In the field of robotic manipulators, particularly those designed to operate in close proximity to humans, the quest for enhanced safety and efficiency remains paramount. A notable contribution to this field is the development of SAQIEL, a 7 degrees of freedom (DoF) manipulator. This device embodies a significant stride forward, leveraging a passive 3D wire aligner to attain a groundbreaking balance between lightweight design, agility, payload capacity, and minimal friction. Crucially, the manipulator’s lightweight, coupled with its low-friction characteristics, promises to mitigate the risks associated with unintended human-robot collisions, therefore expanding the potential for robots' integration into our daily environments.

Passive 3D Wire Aligner: A Core Innovation

The cornerstone of SAQIEL's design is the passive 3D wire aligner, a mechanism allowing efficient power transmission across multiple joints while maintaining a minimalist, lightweight structure. This component is critically responsible for the manipulator's reduced inertia, thus enhancing its safety credentials when operating near humans. Unlike traditional power transmission methods, which often involve bulky gear and belt systems hence increasing the manipulator’s weight, the passive 3D wire aligner utilizes a direct wire winding approach driven by motors. This ingenious design not only minimizes friction but also eschews the oft-present compromise between weight and operational capability in manipulator design.

Empirical Validation of SAQIEL

A battery of empirical tests has underscored SAQIEL's efficacy in aligning safety with performance. Notably, the manipulator boasts a moving part weight of merely 1.5 kg. This figure is markedly lower than both conventional robotic arms and previously reported lightweight manipulators, spotlighting SAQIEL's superior lightweight design. Further, the manipulator demonstrates an impressive payload capacity, managing to lift weights significantly exceeding its own, without compromising on velocity or precision. High-speed motion tests also reveal SAQIEL's ability to execute rapid movements, a capability that is particularly remarkable given its lightweight nature. Such attributes underscore the manipulator’s versatility and potential suitability for a broad spectrum of applications.

Towards Future Horizons

While SAQIEL sets a new benchmark in robotic manipulator design, exciting opportunities for further enhancements loom. Future research directions include refining the passive 3D wire aligner to boost power transmission efficiency, exploring material innovations for even lower friction, and expanding the SAQIEL concept to other robot forms such as humanoid or quadruped robots. Additionally, further optimization of wire arrangements and densification of motor modules and wire aligners could pave the way for even lighter and more compact manipulators.

In sum, SAQIEL represents a vital step forward in the intersection of robotics and safety. Through the innovative application of the passive 3D wire aligner, this research not only achieves a manipulator of unparalleled lightweight and low-friction characteristics but also opens new avenues for the safe integration of robots into human-centric environments. As such, SAQIEL embodies both a significant technical achievement and a beacon for future advancements in collaborative robotic systems.