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Robot arm Master-Slave (With reaction force detection)

Demonstration of Master-slave using direct drive motor

(1)Controlling of Master-slave

When the master(right side) is moved, the slave(left side) follows the same movement with a time difference of about 10 μsec.

Inputting position of master encoder pulse to slave side


(2)Detecting Reaction force and Feedbacking

When an external force is applied to the slave side, it is fed back to the master side as a reaction force. 

Example: When you pull the rubber band on the shaft of the slave, you can feel the rubber band stretch and gradually apply resistance on the master side. 


Analog monitor output for Positional deviation is input in analog to the master side.


(3)Safety alarm function

If an external force exceeding the set value is applied to the slave side, an alarm will be output, the servo will be turned off by an alarm output, and the slave will stop safely. It prevents strong contractive accidents on the shaft of the slave  and burning on the motor.

We have created a compact robot by using a hollow shaft type direct drive motor and passing a cable through the hollow shaft.

  Model name Product name Remarks
1

MDH-2018-36KE
Fingers

Ultra small-sized hollow direct drive motor

Outer diameter φ21mm、Hollow innner diameter φ2.6mm

Resolution 144,000C/R
Max torque 130mNm

2

MDH-4006-324KE
Wrist

Small-sized hollow direct drive motor

Outer diameterφ40mm、Hollow diameter φ6mm

Resolution 1,296,000C/R
Max torque 0.3Nm

3

MDH(12)-4018-324KE
Elbow

Small-sized large diameter hollow shaft

Outer diameter φ40mm、Hollow diameter φ12mm

Resolution 1,296,000C/R
Max torque 1Nm

It is easily possible to develop Master-slave robot by using μDD motor.