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Light-Weight Robot (LWR) I

The researchers at the Institute for Robotics and Mechatronics have developed the first robotic system which flew in space. During the ROTEX-mission (1993) they demonstrated in an impressive manner that it was possible to control a space robotic system from earth. They delay time of up to 3s was “compensated” with on-board autonomy. The autonomy was achieved by a multi-sensor grippe, the so-called ROTEX-gripper. The robot, which was developed by Dornier, was not able to move its own weight on earth.

For training the astronauts a light, flexible robot was needed. That was the point of time when the idea was born to develop the first light-weight robot.

Although the development was pushed by space robotic requirements, the light-weight robot had its breakthrough with terrestrial applications.

There are several aspects all DLR-light-weight robots have in common:

The kinematics is similar to the human arm, each joint is equipped with a torque sensor, the complete electronics is integrated in the arm, and the weight was reduced wherever it was possible.
LWR I was the platform with which we gained a lot of experience and know-how. The huge step we made with the second generation would not have been possible without LWR I.

Total Weight	14,5 kg
Max. Payload	7 kg
Max. Joint Speed	120 °/s
Axes	7 (R-P-R-P-R-P-R)
Total Length	1338 mm
Motors	Stepping Motor Escap
Gears	DLR Planetary Gear
Sensors (each joint)	1 Incremental Position Sensor, 1 Torque Sensor
Brakes	Self-locking Gear
Power Supply	50V 20 kHz AC-Bus
Control	Position-, Torque-, Impedance Control
Electronics	Control Cycles: Current 40 kHz, Joint 2 kHz, Cartesian 1 kHz Electronics Integrated Electronics, external Cabling, Communications by optical SERCOS-Bus