Take a look inside a robot: split the DR02 Pro into its segments, X-ray it or cut it open. It is based on the manufacturer's official 3D simulation model – with the real joint positions, torques and ranges of motion.
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The joints are moved by drives. Deep Robotics describes its separately sold joint modules like this: gearbox, frameless torque motor, servo driver and absolute encoder in one housing. That is exactly the principle shown here.
Schematic illustration, not an original part. The manufacturer has not published which drives are fitted in the DR02.
Current through the coils creates a rotating magnetic field.
Follows the field and spins – fast, but with little force.
Turns fast rotation into slow, powerful motion. 4 : 1 in this drawing – real drives use other ratios depending on design.
The fixed toothed ring the planet gears roll along.
Takes the loads from arm or leg so motor and gearbox are relieved.
This is where the next segment is bolted on – the thigh at the hip, the forearm at the elbow.
Measures the joint angle. Deep Robotics' separately sold modules use 14- to 17-bit encoders: 16,384 to 131,072 steps per revolution.
Controls the current and thus the force in the joint – up to 1,000 times per second on the J60 module, according to the manufacturer.
According to the manufacturer, the DR02 is dust-tight and protected against water jets (IP66). The joints have to be sealed for that too.
We only show what is documented. Everything schematic is labelled as such.
Place the robot life-size in your room with augmented reality – or request a demonstration.
3D model DR02 © 2024 DeepRoboticsLab, BSD-3-Clause · Joint actuator: own schematic illustration
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