When the master (right) moves, the slave (left) side follows the same movement with a time difference of 0.2μsec.
(2) Reaction force detection and feedback
When external force is applied to the slave side, it is fed back to the master side as a reaction force.
(e.g.) When a rubber band is pulled on the slave shaft, you can feel that the rubber band expands and gradually becomes resistant on the master side.
(3) Safety alarm function
When more external force than set on the slave side is applied, an alarm is output, the servo-off is activated and the system stops safely.
Prevent severe accidental contacts in the slave shaft, and prevent burning of the motor.
A direct drive motor with a hollow shaft was used, and a compact robot was built by passing cables through the hollow shaft.
| Model name | Product name | Remarks | |
|---|---|---|---|
| 1 | MDH-2018 (Fingers)） | Direct drive motor with a hollow shaft | Outer diameter 20mm Inner diameter 2mm 288,000C/R Peak torque 120mNm |
| 2 | MDH-4006 (Wrist) | Direct drive motor with a hollow shaft | Outer diameter 40mm Inner diameter 10mm 1,296,000C/R Peak torque 300mNm |
| 3 | MDH(12)-4018 (Elbow) | Direct drive motor with a hollow shaft | Outer diameter 40mm Inner diameter 12mm 1,296,000C/R Peak torque 1Nm |