Lightweight Hyper-redundant Binary Elements for Planetary Exploration Robots
نویسندگان
چکیده
3 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 element 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 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.
منابع مشابه
Design of a Lightweight Hyper-Redundant Deployable Binary Manipulator
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 i...
متن کاملOptimized Binary Modular Reconfigurable Robotic Devices
Binary robotic devices with large degrees of freedom have been proposed by a number of researchers. However, experimental implementations of these concepts have been built with conventional components. These physical systems are heavy, complex and far from being practical devices. In this paper, a lightweight, compliant mechanism driven by optimized magnet-coil actuators is proposed and develop...
متن کاملDesign and Simulation of Compliant Tensegrity Robots for Planetary Exploration
The Dynamic Tensegrity Robotics Lab (DTRL) at the NASA Ames Research center is actively researching the design, control, and locomotion of tensegrity robots for planetary exploration. The advantage of using a tensegrity robot emerges from the fact that it behaves as a structured soft robot. This term, structured soft robotic system, comes from the fact that tensegrity systems are traditionally ...
متن کاملBoundary Control by Boundary Observer for Hyper-redundant Robots
Abstract: The control problem of a class of hyper-redundant arms with continuum elements, with boundary measuring and control is discussed. First, the dynamic model of the continuum arm is presented. The measuring systems are based on the film sensors that are placed at the terminal sub-regions of the arm. The observers are proposed in order to reconstruct the full state of the arm. A back-step...
متن کاملHyper-redundant robot mechanisms and their applications
Hyper-redundant robots have a large or infinite number of degrees of freedom. Such robots are analogous to snakes or tentacles and are useful for operation in highly constrained environments and novel forms of locomotion. This paper reviews newly developed methods for the kinematic analysis of hyper-redundant manipulators. These methods can be applied to a wide variety of hyper-redundant morpho...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
عنوان ژورنال:
دوره شماره
صفحات -
تاریخ انتشار 2000