Cobomanip: A new generation of intelligent assist device

Abstract : This paper presents the upgraded version of a Sarrazin manipulator. Designed as a force generator, this new Intelligent Assist Device is capable of lifting and moving loads beyond standard human capabilities under the action of human operator applying forces upon the manipulator staying within ranges in accordance with safety standards. Thanks to the actuators embodied into the manipulator and to previous developments of VR haptic libraries, authors developed what could be compared to a traditional master arm with a workspace of several cubic meters, the capability to handle load up to 100kg and excellent haptic capabilities. The system is designed to interact physically into any industrial environment and is expected to assist workers during task execution and therefore speed up the operational process, especially during final assembly phases where the level of automation is usually low. After a presentation of the mechanical design and the software architecture current results and performances of the prototype are discussed.