The Architecture of the AdeptOne® Direct-Drive Robot

The AdeptOne® is the first production direct-drive robot. The arm is of the SCARA configuration, using large variable reluctance motors to power the inner joints. The controller is based on a number microcomputers based on the MC68000, supporting the powerful VAL-II® programming language for robot control. With the use of direct drive, and proprietary motor control components, the AdeptOne® combines very high speed and high accuracy, in a robot with considerable reach (800mm) and load carrying capacity (6Kg). Points of wear have been vastly reduced by the elimination of drive-train gears. This paper describes the kinematics and drive train elements of the AdeptOne® as well as its sensor and actuator configuration. This includes a description of the special variable reluctance motors used to power the inner joints. The controller architecture is shown, both from the hardware, and control points of view.