Design of a Lightweight Hyper-Redundant Deployable Binary Manipulator-Reference-Cited by-同舟云学术

Design of a Lightweight Hyper-Redundant Deployable Binary Manipulator

Published:2004-01-01 Issue:1 Volume:126 Page:29-39
ISSN:1050-0472
Container-title:Journal of Mechanical Design
language:en
Short-container-title:

Author:

Sujan Vivek A.¹,Dubowsky Steven¹

Affiliation:

1. Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, MA 02139

Abstract

This paper presents the design of a new lightweight, hyper-redundant, deployable Binary Robotic Articulated Intelligent Device (BRAID), for space robotic systems. The BRAID is intended to meet the challenges of future space robotic systems that need to perform more complex tasks than are currently feasible. It is lightweight, has a high degree of freedom, and has a large workspace. The device is based on embedded muscle type binary actuators and flexure linkages. Such a system may be used for a wide range of tasks, and requires minimal control computation and power resources.

Publisher

ASME International

Subject

Computer Graphics and Computer-Aided Design,Computer Science Applications,Mechanical Engineering,Mechanics of Materials

Link

http://asmedigitalcollection.asme.org/mechanicaldesign/article-pdf/126/1/29/5603915/29_1.pdf

Reference28 articles.

1. Ebert-Uphoff, I., and Chirikjian, G. S., 1996, “Inverse Kinematics of Discretely Actuated Hyper-redundant Manipulators Using Workspace Densities,” Proceedings of the IEEE International Conference on Robotics and Automation, 1996, 1, pp. 139–145.

2. Erdmann, M. A., and Mason, M. T., 1988, “Exploration of Sensor-less Manipulation,” IEEE J. Rob. Autom., 4, pp. 369–379.

3. Lees, D. S., and Chirikjian, G. S., “A Combinatorial Approach to Trajectory Planning for Binary Manipulators,” Proceedings of the IEEE International Conference on Robotics and Automation, Minneapolis, Minnesota, April 1996.

4. Lichter, M. D., Sujan, V. A., and Dubowsky, S., 2000, “Experimental Demonstration of a New Design Paradigm in Space Robotics,” Proceedings of the Seventh International Symposium on Experimental Robotics, ISER 00. Dec 10–13, 2000, Honolulu, Hawaii.

5. Oropeza, G., 1999, “The Design of Lightweight Deployable Structures for Space Applications,” Thesis for the Bachelors of Science in Mechanical Engineering, Massachusetts Institute of Technology, May 1999.

Cited by 51 articles. 订阅此论文施引文献订阅此论文施引文献，注册后可以免费订阅5篇论文的施引文献，订阅后可以查看论文全部施引文献

1. Design of Three-Dimensional Binary Manipulators Based on the KS Statistic and Maximum Empty Circles;IECON 2023- 49th Annual Conference of the IEEE Industrial Electronics Society;2023-10-16

2. A Novel Underactuated Continuum Robot With Shape Memory Alloy Clutches;IEEE/ASME Transactions on Mechatronics;2022-12

3. A Review on the Environment Perception and Control Technologies for the Hyperredundant Manipulators in Limited Space;Journal of Sensors;2022-09-27

4. Design and Control of SLPM-Based Extensible Continuum Arm;Journal of Mechanisms and Robotics;2022-09-12

5. Design of a Lightweight and Deployable Soft Robotic Arm;Robotics;2022-08-31