iCubGenova09 (iRonCub3) S/N:000 – Support in replacing the robot's arms' joints

[HosameldinMohamed]

Robot Name 🤖

iCubGenova09 (iRonCub3) S/N:000

Request/Failure description

iRonCub-Mk3 experienced some offsets in the arms joints during the last flight tests at the end of March 2025. We speculated that this is due to the friction clutches located in the shoulder joints, which are probably worn out by now.

Related intervention https://github.com/robotology/icub-tech-support/issues/2095

Newer ergoCub joints don't have the same type of clutches and are theoretically more reliable for our application.

We would like to replace the joints' clutches to match those of the ergoCub.

Detailed context

⚙ Mechanical work

• Concerning the mechanical work, we will send the components to manufacturing, and attempt the replacement ourselves, with some guidance from Tech!

• Details are documented in https://github.com/ami-iit/element_ironcub-design/issues/323

🦾 Shoulder pitch joints

https://github.com/ami-iit/element_ironcub-design/issues/323#issuecomment-3005593754

🦾 Shoulder roll joints

https://github.com/ami-iit/element_ironcub-design/issues/323#issuecomment-2922464795

🦾 Shoulder yaw joints

https://github.com/ami-iit/element_ironcub-design/issues/323#issuecomment-3005602136

🦾 Elbow joints

https://github.com/ami-iit/element_ironcub-design/issues/323#issuecomment-3005607827

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🔌 Electrical work

Concerning the electrical work, I can't assess the amount of effort needed to complete the replacement!

Additional context

No response

How does it affect you?

Upgrading the arms joints and clutches will be beneficial for the upcoming flight tests.