Martinez, Kenneth, Workman, Riley, Masud, Md Shafakat et Lang, Haoxiang.
2025.
« GRASP-01: A low-cost 7 degree of freedom humanoid robotic arm ».
In Proceedings of the CSME-CFDSC-CSR 2025 International Congress (Montreal, QC, Canada, May 25-28, 2025)
Coll. « Progress in Canadian Mechanical Engineering », vol. 8.
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Résumé
Despite significant technological advances in humanoid robotics, widespread adoption remains limited due to high manufacturing costs that restrict accessibility. This paper presents GRASP-01, a low-cost 7 Degree of Freedom (DOF) humanoid robotic arm designed to address these economic barriers while maintaining functional integrity through Fused Deposition Modeling (FDM) materials and optimized geometric design. The prototype achieves a total mass of 5.6 kg. It incorporates integrated servo motors with position control, a direct-drive configuration, and CAN bus communication. It was tested with a conservative initial payload capacity of 2 kg to maintain the system's stability during the initial stage of development; however, there is a potential for an increase in payload capacity through the enhancement of the mechanical system with further development and a maximum reach of 0.75 meters at full extension. Furthermore, it establishes a cost-effective humanoid robot arm development framework suitable for research and educational applications.
| Type de document: | Compte rendu de conférence |
|---|---|
| Éditeurs: | Éditeurs ORCID Hof, Lucas A. NON SPÉCIFIÉ Di Labbio, Giuseppe NON SPÉCIFIÉ Tahan, Antoine NON SPÉCIFIÉ Sanjosé, Marlène NON SPÉCIFIÉ Lalonde, Sébastien NON SPÉCIFIÉ Demarquette, Nicole R. NON SPÉCIFIÉ |
| Date de dépôt: | 18 déc. 2025 15:16 |
| Dernière modification: | 18 déc. 2025 15:16 |
| URI: | https://espace2.etsmtl.ca/id/eprint/32454 |
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