HYPER-REDUNDANT ROBOT

CHARACTERISTICS
1. Are not anthropomorphic
2. Highly linkage structure
3. Maneuvering in confined spaces
4. Peristaltic waves generated
5. Grasp Objects in a Tentacle-Like Fashion
IMPLEMENTATION
1. 30 DOF Robot VGT
  1. 10 Identical 3 DOF Truss Modules
    1. 3 Prismatic Joints
      1. D.C. Servo Motors and Lead Screw Drives
      2. Linear Potentiometer
  2. Casters Attached to the Fixed Elements of the Modules
  3. can be separated into two robot manipulators 15 DOF
  4. System is Controlled by an a Multiprocessing Computer
    1. Heurikon 68030
  5. mechanical advantage properties
  6. Gregory S. Chirikjian Joel W. Burdick
APPLICATIONS
1. Medical Endoscopy
2. Capturing and Despinning Free Floating Satellites
3. Complex Whole Arm Manipulation Experiments
4. Emergency Response Vehicles in Collapsed Buildings
5. Sensor Placement in Complicated Geological Formations
DISADVANTAGES
1. Precise Positioning Tasks
2. Not Provide Backbone Torque
MORPHOLOGY
1. Continuous Morphology
  1. Deformable Continuous
2. Discrete Morphology
  1. Rigid Links
3. Cascades of Parallel Platform Modules
  1. Variable Geometry Trusses (VGT)
UNIVERSIDAD MANUELA BELTRÁN ING. ELECTRÓNICA
1. JOHANN ANDRÉS ARGÜELLO CRUZ ROBÓTICA INDUSTRIAL

Resumo de Recurso

	Criado por Johann Andrés Argüello CRUZ mais de 8 anos atrás