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Robotic Arm - Coggle Diagram
Robotic Arm
our project
add a force sensor
high quality manual therapy
muscles
motors (current under load)
sensory
focue
position
sensors
"everybody has a back problem"
add AI algorithms to Robot movement
collect "good" manual therapy
medical device
need less than a 20ms delay
Amber B1
brushless motors
harmonic drives
not back-driveable
cycloidal reducer
aka cyclodial drive or gear
reduces the speed and increases the torque of a motor
knowing position
lens that lets light through tiny holes
chain-link connection
power / current
network
real-time operating systems
Windows
Linux (special real-time version)
"real time" means guaranteed latencies
open socket
asynch commands
Robot Operating System
also see Gazebo
might have too much of a delay for our purposes
best for ML training
How do we make it safe?
< 1-9 gear reduction
spring in arm
sensor in gear shaft
Force Controller