Hebert, P. and Tatossian, C. and Cairns, M. and Aghili, F. and Parsa, K. and Morozov, A. (2007) Toward the Design and Simulation of a New Generation of Reconfigurable Space Manipulators using Telescoping Passive Joints. Transactions of the Canadian Society for Mechanical Engineering, 31 (4). pp. 535-545. ISSN 0315-8977 http://resolver.caltech.edu/CaltechAUTHORS:20100917-111052308
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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.|
|Usage Policy:||No commercial reproduction, distribution, display or performance rights in this work are provided.|
|Deposited By:||Jason Perez|
|Deposited On:||17 Sep 2010 21:05|
|Last Modified:||26 Dec 2012 12:26|
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