DEVELOPMENT OF CUSTOM-INTEGRATED ROBOTIC ACTUATORS FOR AN ASSISTIVE ROBOT MANIPULATOR

Abstract

The development of wheelchair-mounted assistive robots is currently constrained by significant hardware limitations and the high costs associated with creating custom technologies tailored to specific design needs. Key challenges include the need for lightweight, compact, and aesthetically pleasing designs, reliable control, sufficient payload capacity, and reduced production costs. Designers have only two options for robot joints: buy all components separately, which extends the time needed for design and difficulties modularity, or choose an intergraded actuator joint from the market, where there is not a variety of appropriate options, and those available still have room for improvements in weight, length, and installation. The lightest robot arms lack the use of safety components like brakes and other sensors. Those who use them tend to result in bulky systems. This research aims to address these gaps by developing integrated actuator units for robotic joints tailored to assistive robot arms. The proposed integrated actuators will prioritize compactness, low weight, ease of control, and straightforward installation without compromising mechanical performance. The main criteria for selecting the components used are high quality, slim, lightweight, robust customer support, and compatibility between components. Also, simplifying and minimizing the number of custom parts required in the unit and for installation. By advancing actuator technology, this work aims to significantly enhance the functionality and accessibility of assistive robot arms, directly improving the quality of life for individuals with disabilities. Moreover, the outcomes of this research have the potential to reduce healthcare costs and inspire advancements in the field of robotics, offering compact, efficient, and cost-effective solutions for the broader landscape of assistive technologies.