Angular sensor

angular sensor Due to the integrated angular sensors, an arm can also be used directly as “teach-in” arm. Read-out angle information can be saved and called up or even directly transformed into movements (see film). Currently the sensor technology is advanced for series production.

Development partner EvoLogics GmbH is a specialist for bionic inventions (the Fin Ray Effect®, among others). The ideas for the actuation of the joints through “sinews” and the entailing decoupling of the moving masses of the drive technology (bionic model: the foot of a crane. Muscles in the bird’s body move the toes of the animal via sinews, the leg is extremely long, thin and therefore light).

Evologics plant: the torso.

Each arm has 7 degrees of freedom, 4 of them in the respective 2 robolink joints. Each arm is driven by 7 DC motors; they are stationary in the “breast area”.
Due to the decoupling of the drives from the moving arms, each arm only weighs a little over 1 kg. Load capacity per arm is also 1 kg with very high dynamics (see film). Result: a load to dead weight ratio of 1:1 becomes possible!

Development status

  • Increase in the transmitted torque (rotation) from 5 (generation 1) to 7 Nm (generation 2) in continuous operation. (Damage in the one-off fracture test at > 24 Nm)
  • GFRP and CFRP rods now available in profiled version. Maximum length of 1 m. See price list. Weight CFK: 170 g/m, GFK: 200 g/m, Aluminum 270 g/m

Development status

Our beta tester special offer has been running since the end of December. So far approx. 30 customers have been sent samples and approx. 20 customer-specific tests are running. More samples are being produced to keep up with the demand.

Applications areas / industries:
research centers (Fraunhofer, DLR, international universities), robot builders (service, maintenance, handling), camera work, antenna alignment, medical technology, rehab, orthotics, industrial handling systems.

Provisional datasheet (German / English) to download (PDF)

Current status of the product development

The revised, new version of the articulated robot joint is now available as a prototype. The following product improvements have been achieved:

  1. lower cable friction due to less narrow cable guide for the rotational motion (newly laid Bowden cables with optimized friction couple => see figures)
  2. New design of the transition from articulated joint to rod, creating transfer of torques in the region of up to approx. 15-20 Nm (or 5-10 Nm in continuous operation). There will also be three versions of articulated rod from the end of December 2009: aluminium (affordable), CFK (extremely light, but expensive) and GFK as an intermediate solution.
  3. Integration of magnetic sensors to measure and transfer the current angle positions in the articulated joint. Work is still being done on this point. Space for the sensor system is provided, the technical design of the sensor mechanism should be completed in spring 2010 and integrated in the samples.

After extensive trials we assume that at least the following torques can be transferred with the articulated joint in continuous operation:

  • Transferable torque for the pivot movement: 10 Nm
    drive force (cable tensile strength) for this: max. 400N
  • Transferable torque for the rotational movement: 5 Nm
    drive force (cable tensile strength) for this: max. 400N


  • Weight 1 robolink incl. cables: 380 g
  • Weight of aluminium rod: 270 g/m
  • Weight of carbon fiber rod: 150 g/m

 The articulated joint has the basic dimensions shown below:


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