TY - GEN
T1 - Design and analysis of an innovative modular extendable manipulator
AU - Yi, Hak
AU - Langari, Reza
N1 - Publisher Copyright:
Copyright © 2014 by ASME.
PY - 2014
Y1 - 2014
N2 - This study present a design and analysis scheme for the extend-able modular robotic manipulator with multi Degree of Freedom links that is capable of elongating by 15 % of its nominal length. The intent is to facilitate the movement of the proposed robotic manipulator in constraint environments, such as rubble piles. In this context, the total number of links decided by optimization methodology can be a useful distinction in practice. In order to identify the benefits of the proposed design strategy, the reachable workspace of the proposed manipulator is compared with that of the Jet Propulsion Laboratory (JPL) serpentine robot. The simulation results show that the proposed manipulator has a relatively efficient reachable workspace to deal with a variety of constrained directions, needed in constrained environments. Also, the singularity of the designed manipulator is investigated.
AB - This study present a design and analysis scheme for the extend-able modular robotic manipulator with multi Degree of Freedom links that is capable of elongating by 15 % of its nominal length. The intent is to facilitate the movement of the proposed robotic manipulator in constraint environments, such as rubble piles. In this context, the total number of links decided by optimization methodology can be a useful distinction in practice. In order to identify the benefits of the proposed design strategy, the reachable workspace of the proposed manipulator is compared with that of the Jet Propulsion Laboratory (JPL) serpentine robot. The simulation results show that the proposed manipulator has a relatively efficient reachable workspace to deal with a variety of constrained directions, needed in constrained environments. Also, the singularity of the designed manipulator is investigated.
UR - https://www.scopus.com/pages/publications/84926039704
U2 - 10.1115/DETC201435206
DO - 10.1115/DETC201435206
M3 - Conference contribution
AN - SCOPUS:84926039704
T3 - Proceedings of the ASME Design Engineering Technical Conference
BT - 38th Mechanisms and Robotics Conference
PB - American Society of Mechanical Engineers (ASME)
T2 - ASME 2014 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2014
Y2 - 17 August 2014 through 20 August 2014
ER -