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Telepresence System

Advanced Telepresence Solution for Academic Research

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.

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Product Details

The robotic manipulator of the solution, the QArm, consists of 4 joints in a roll-pitch-pitch-roll configuration, allowing for a large reachable workspace. The two-stage 5-contact gripper allows you to interact with objects of various shapes while gauging grip strength via current sense. The gripper can be augmented and customized with additional sensors and actuators via the interfacing board. The position of the RGBD camera enables you to perform inspection and visual servoing tasks. As a dexterous haptic device, HD² enables researchers to interact with remote environments using programmable force feedback. Compared to other commercially available haptic devices, HD² has a large workspace and very low intervening dynamics. This parallel mechanism is highly back-drivable with negligible friction. The heavy-duty capstan drive and high-performance motors reduce the perceived inertia while maintaining rigidity of the device structure.

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
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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