Title :
Development of smart actuator for leight-weight modular robot
Author :
Lee, Young-Jin ; Park, Min-Kyu ; Go, Seok-Jo
Author_Institution :
Autopower Co. Ltd., Kimhae, South Korea
Abstract :
This paper is dealing with a smart actuator for a modular robot. Modular robot means that robot has modular actuator in each axis. Smart actuator consists of harmonic reducer, servo motor, electric brake, multi-turns absolute encoder, drive, network board. All of them are hollow shaft type module. The robot which is linked to the smart actuator with EtherCAT and SPI communication is easily able to assemble and disassemble or reconfigure it. We try to implement a smart actuator and this tries to be verified through an experiment in order to implement the robot.
Keywords :
intelligent actuators; robots; EtherCAT; SPI communication; drive; electric brake; harmonic reducer; hollow shaft type module; light-weight modular robot; modular actuator; multiturns absolute encoder; network board; servo motor; smart actuator; Intelligent actuators; Service robots; Servomotors; Shafts; Synchronous motors; EtherCAT and SPI Communication; Modular robot; Smart actuator;
Conference_Titel :
Control Automation and Systems (ICCAS), 2010 International Conference on
Conference_Location :
Gyeonggi-do
Print_ISBN :
978-1-4244-7453-0
Electronic_ISBN :
978-89-93215-02-1
