Design development of a prototype multi-module manipulator

摘要

A deployable manipulator is a robotic system that has a combination of revolute and prismatic joints. Based on this concept, the Multi-module Deployable Manipulator System (MDMS) has been developed. It consists of several modules, each having both revolute and prismatic degrees of freedom, connected in series. This class of manipulators offers several useful characteristics with respect to the dynamics and control. This paper presents the design and development of the Multi-module Deployable Manipulator System (MDMS) at the University of British Columbia. The planar manipulator that is developed here is somewhat unique in that it comprises four modules, each of which has one revolute joint and one prismatic joint, connected in a chain topology. The design process involves the selection and sizing of actuators, the design of mounting and connecting components, and the selection of both electrical devices and software for real-time control. Ground-based manipulator systems are useful in assessing, through real-time experimentation, the effectiveness of control procedures for their possible application to space-based systems.