Robot PR-1 Overall Configuration

Mobility: while fully holonomic (omni-directional) drivetrains exist, no existing system provides robust performance in real-world situations, i.e., able to move over doorway thresholds, curbs and extension cords. The design of PR-1 couples a 2-DoF differentially-driven base with torso rotation to approximate holonomic motion for the two 7-DoF arms mounted on the upper torso. With this 2-wheeled base, the indoor-environment robot can drive smoothly at speeds up to human walking speed of 2 m/s, bump over 1 – 2 cm obstacles such as carpeting, thresholds and cords, and allow the arms to be positioned virtually anywhere in a natural human-like configuration.

The base includes two pneumatic-tire wheels with 6Nm continuous torque to each wheel, enabling a climbing capability of 8o. The base also includes two suspension caters, the batteries, power electronics and chargers. The base and the torso are coupled by a 43 cm vertical lead-screw and a + 60o vertical axis rotating joint.

Manipulation: to manipulate objects that are common in work and home settings, PR-1 has two arms with ranges of motion and force similar to human arms, each with a simple gripper capable of typical human-like grasps. Designed to avoid pinch points or external wiring, a modular approach makes it possible to add specialized hardware and end effectors. The two arms are mounted to the torso on + 60o vertical axis joints.

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