Published 2007
| Submitted
Journal Article
Open
Toward the Design and Simulation of a New Generation of Reconfigurable Space Manipulators using Telescoping Passive Joints
Abstract
This work presents the analysis, simulation, design, and assembly of a three-degree-of-freedom reconfigurable robotic arm. Unlike conventional reconfigurable robots, the final design illustrated in this paper does not achieve re-configurability through modular joints; instead, it is equipped with passive telescopic joints. These passive joints allow the robotic arm to change its Denavit- Hartenberg parameters via an innovative breaking system. The robotic arm itself presents many advantages; not only is it versatile to perform various tasks, but it can be packed into a small volume, as usually required for launch in space applications.
Additional Information
© 2007 Canadian Society for Mechanical Engineering. The authors would like to thank LINAK, Inc, for their generous donation of two linear actuators; and Martin Tändl for his outstanding support in this project.Attached Files
Submitted - HEBtcsme07preprint.pdf
Files
HEBtcsme07preprint.pdf
Files
(867.7 kB)
Name | Size | Download all |
---|---|---|
md5:ea13f5eb24171fbcb2834b2fb5bf4cd6
|
867.7 kB | Preview Download |
Additional details
- Eprint ID
- 20014
- Resolver ID
- CaltechAUTHORS:20100917-111052308
- Created
-
2010-09-17Created from EPrint's datestamp field
- Updated
-
2019-10-03Created from EPrint's last_modified field