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Telepresence System

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Hoang Quoc Co.,Ltd

Add:  No.7, Lot 5B, Trung Yen New, Cau Giay District, Hanoi City, Vietnam
ĐT      : (84-4)   3831 7421
Fax    : (84-4) 3831 7433
Email : Hoangquoc@hoangquoc.com

Overview Specifications

Quanser’s telepresence solution consists of a Quanser QArm manipulator along with a Quanser HD² High Definition Haptic Device. The open architecture design of the solution allows researchers to quickly develop and deploy emerging applications in telerobotics, telepresence, machine learning, assistive robotics, collaborative robotics, and more using MATLAB/Simulink. Quanser’s QArm is a 4 DOF serial robotic manipulator with a tendon-based two-stage gripper and an RGBD camera, designed for modern engineering education and academic research applications. The HD² High-Definition Haptic Device is a high-fidelity haptic interface for advanced research in haptics and robotics.

Features:

QArm Manipulator:

Suite of sensors and control modes
Quick development and validation of algorithms and control approaches
Compatible with a range of software environments and interface options
Expandable I/O for unlimited applications

HD² Haptic Device

Highly back-drivable joints and very low intervening dynamics
Highly rigid structure with low friction and inertia
Capstan drive mechanism
Counterweights designed to eliminate the effects of gravity
Auxiliary analog and digital inputs
Reconfigurable handle position
High-resolution optical encoders
Built-in linear current amplifiers
Easy connectivity to the data acquisition control board through SCSI cable
Foot push pedal for auxiliary digital input

Specifications:

QArm:

Manipulator weight: 8.25 kg
Payload: 250 - 750 g
Reach: 750 mm
Repeatability: ± 0.05 mm
Camera: Intel® RealSense™ D415
Interface: USB/SPI (QFLEX 2)
Interface control modes: Position mode, Current mode
External control rate: 500 Hz
Expandable I/O: PWM/Analog/I²C/SPO/UART
Minimum and maximum joint range: Base (± 170°), Shoulder ( ± 85°), Elbow (-95°/ +75°), Wrist ( ± 167.5°)
Maximum joint speed: ± 90°/s

HD²:

Workspace: 800 mm (X), 250 mm (Y), 350 mm (Z) ; 180 degrees (roll), 180 degrees (pitch), continuous (yaw)
Tip inertia: 300 g (X), 300 g (Y), 300 g (Z); 2.29 g.m ²(roll), 2.29 g.m² (pitch), 0.79 g.m² (yaw)
Back drive frictions: 0.353 N (X), 0.353 N (Y), 0.353 N (Z); 61.775 N/mm (roll), 61.775 N/mm (pitch), 0.5 N/mm (yaw)
Maximum force/torque at 2 amps: 19.71 N (X), 19.71 N (Y), 13.94 N (Z); 1.72 N.m (roll), 1.72 N,m (pitch), 1.72 N.m (yaw)
Continuous force/torque at 1.1 amps: 10.84 N (X), 10.84 N (Y), 7.67 N (Z); 0.948 N.m (roll), 0.948 N.m (pitch), 0.948 N.m (yaw)
Position resolution: 0.051 mm (X), 0.051 mm (Y), 0.051 mm (Z); 0.033 degrees (roll), 0.033 degrees (pitch), 0.088 degrees (yaw)
Stiffness at 10 kHz: 3000 N/m (X), 3000 N/m (Y), 3000 N/m (Z); 3.4 N.m/rad (roll), 3.4 N.m/rad (pitch), 0.05 N.m/rad (yaw) (torque at 0.6 A)
Dimensions (H x W x L): 0.53 m x 0.3 m x 0.5 m
Mass, including the amplifiers: 22 kg

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