Design of a lightweight hyper-redundant deployable binary manipulator

被引：60

作者：

Sujan, VA ^{[1
]}

Dubowsky, S ^{[1
]}

机构：

[1] MIT, Dept Mech Engn, Cambridge, MA 02139 USA

来源：

JOURNAL OF MECHANICAL DESIGN | 2004年 / 126卷 / 01期

关键词：

D O I：

10.1115/1.1637647

中图分类号：

TH [机械、仪表工业];

学科分类号：

0802 ;

摘要：

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.

引用

页码：29 / 39

页数：11

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