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 |