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PAPRAS: Plug-And-Play Robotic Arm System

Joohyung Kim, Dhruv C Mathur, Kazuki Shin, Sean Taylor

TL;DR

In the paper, simulations and hardware experiments are presented in various demonstrations, including sink-to-dishwasher manipulation, coffee making, mobile manipulation on a quadruped, and suit-up demo to validate the hardware and software design.

Abstract

This paper presents a novel robotic arm system, named PAPRAS (Plug-And-Play Robotic Arm System). PAPRAS consists of a portable robotic arm(s), docking mount(s), and software architecture including a control system. By analyzing the target task spaces at home, the dimensions and configuration of PAPRAS are determined. PAPRAS's arm is light (less than 6kg) with an optimized 3D-printed structure, and it has a high payload (3kg) as a human-arm-sized manipulator. A locking mechanism is embedded in the structure for better portability and the 3D-printed docking mount can be installed easily. PAPRAS's software architecture is developed on an open-source framework and optimized for low-latency multiagent-based distributed manipulator control. A process to create new demonstrations is presented to show PAPRAS's ease of use and efficiency. In the paper, simulations and hardware experiments are presented in various demonstrations, including sink-to-dishwasher manipulation, coffee making, mobile manipulation on a quadruped, and suit-up demo to validate the hardware and software design.

PAPRAS: Plug-And-Play Robotic Arm System

TL;DR

In the paper, simulations and hardware experiments are presented in various demonstrations, including sink-to-dishwasher manipulation, coffee making, mobile manipulation on a quadruped, and suit-up demo to validate the hardware and software design.

Abstract

This paper presents a novel robotic arm system, named PAPRAS (Plug-And-Play Robotic Arm System). PAPRAS consists of a portable robotic arm(s), docking mount(s), and software architecture including a control system. By analyzing the target task spaces at home, the dimensions and configuration of PAPRAS are determined. PAPRAS's arm is light (less than 6kg) with an optimized 3D-printed structure, and it has a high payload (3kg) as a human-arm-sized manipulator. A locking mechanism is embedded in the structure for better portability and the 3D-printed docking mount can be installed easily. PAPRAS's software architecture is developed on an open-source framework and optimized for low-latency multiagent-based distributed manipulator control. A process to create new demonstrations is presented to show PAPRAS's ease of use and efficiency. In the paper, simulations and hardware experiments are presented in various demonstrations, including sink-to-dishwasher manipulation, coffee making, mobile manipulation on a quadruped, and suit-up demo to validate the hardware and software design.
Paper Structure (29 sections, 13 figures, 2 tables)

This paper contains 29 sections, 13 figures, 2 tables.

Table of Contents

  1. Introduction
  2. Mechanical Hardware Design
  3. Design Considerations
  4. Linkage Design
  5. Docking mount
  6. Features for portability
  7. Locking mechanism
  8. Covers for both ends
  9. Electrical Hardware
  10. Arm Wiring Harness
  11. Mount Connection
  12. Control Box
  13. Software Architecture
  14. Global ROS Parameter Server
  15. User-based Operation and Monitoring
  16. ...and 14 more sections

Figures (13)

  • Figure 1: PAPRAS mounted in various environments using the plug-and-play feature and executing manipulation tasks.
  • Figure 2: Visualization of workspaces. Most rectangular dinner tables are 914.4mm (36") wide. The standard dishwasher and sink dimensions (LxWxH) are typically 609.6x609.6x889 mm and 762x558.8x254 mm, respectively.
  • Figure 3: PAPRAS long version (top) and short version (middle) in front view, and joint configuration (bottom).
  • Figure 4: PAPRAS parts break down and linkage weight reduction process.
  • Figure 5: Docking mount.
  • ...and 8 more figures