Construction of a hyper redundant robotic rentacle manipulator / Miles C. D. Pekala and Derek Scherer.

Format:

Book

Government document

Author/Creator:

Pekala, Miles C. D., author.

Contributor:

U.S. Army Research Laboratory, issuing body.

Series:

ARL-TR (Aberdeen Proving Ground, Md.) ; 6019.

ARL-TR ; 6019

Language:

English

Subjects (All):

Mechatronics.

Manipulators (Mechanism).

Robotics.

Genre:

Text

Physical Description:

1 online resource (viii, 26 pages) : illustrations (some color).

Place of Publication:

Aberdeen Proving Ground, MD : Army Research Laboratory, June 2012.

Language Note:

English

Summary:

This report presents the design and development of a robotic tentacle manipulator research platform as a tool to explore new methods of enhancing the capabilities of remotely operated manipulators, autonomous manipulation, and autonomous search. We review the current state of dexterous manipulators and past milestones, choose manipulator morphology based on this review, and evaluate the morphology on the basis of design, control, and manufacturing constraints. A feasible architecture for a robotic tentacle manipulator research platform is conceived, designed, and built. Design and development of software, hardware, and mechanical components is presented. Applications of the robotic tentacle manipulator in autonomous robots are investigated. Potential effects of various design decisions are evaluated and strategies for platform improvements are suggested.

Notes:

"June 2012."

Includes bibliographical references (pages 21-24).

Approved for public release; distribution is unlimited.

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Description based on online resource; title from PDF title page (Army Research Laboratory website, viewed July 31, 2018).

OCLC:

872722755

Access Restriction:

Open access content Open access content