论文标题
Deltaz：用于研究和教育的可访问的Delta机器人操纵器
DeltaZ: An Accessible Compliant Delta Robot Manipulator for Research and Education
论文作者
论文摘要
本文介绍了Deltaz机器人，这是一种厘米级，低成本，Delta式机器人，可提供广泛的功能和鲁棒的功能。当前的技术允许三角洲的柔软和刚性材料3D打印，从而易于组装和维护，并降低利用的障碍。机器人的功能源于其三个翻译自由度和一个封闭形式的运动解，这使操作问题与其他操纵器相比更加直观。此外，机器人的低成本为将操纵者民主化为研究环境提供了机会。我们还描述了如何将机器人用作增强学习基准。开源3D打印机设计和代码可向公众使用。
This paper presents the DeltaZ robot, a centimeter-scale, low-cost, delta-style robot that allows for a broad range of capabilities and robust functionalities. Current technologies allow DeltaZ to be 3D-printed from soft and rigid materials so that it is easy to assemble and maintain, and lowers the barriers to utilize. Functionality of the robot stems from its three translational degrees of freedom and a closed form kinematic solution which makes manipulation problems more intuitive compared to other manipulators. Moreover, the low cost of the robot presents an opportunity to democratize manipulators for a research setting. We also describe how the robot can be used as a reinforcement learning benchmark. Open-source 3D-printable designs and code are available to the public.
