ABSTRACT
Manipulator on mobile platform having multiple degrees of freedom performing variety of tasks can be seen in field of education, research and military applications. It is imperative to use these manipulators for only limited workspace for which either these are designed or for such applications in which solutions can be achieved in given workspace of manipulator. Mobile platforms carrying a versatile manipulator onto it are finding place in armory of armed forces worldwide.
This paper presents unique design of manipulator arm for confined spaces with 5 DOF. Manipulator arm designed in such a way that extraction of suspected items can be carried out from places like railway compartment and aircraft cabin. Some features which make this manipulator distinguished in class are compact design and lightweight. A two stage linear actuator is designed for this manipulator to enhance vertical reach. In this paper design of the manipulator, selection of actuators along with prime movers, kinematic analysis and stance evaluation are discussed.
- A K Malik, A Ghosh and Gunter Dittrich Kinematic analysis and synthesis of mechanismGoogle Scholar
- Craig JJ, "Introduction to Robotics", Pearson EducationGoogle Scholar
- Deb S.R. "Robotics technology and flexible Automation"Google Scholar
- M K Pathak, "Innovative design for 6 degree of manipulator arm"Google Scholar
Index Terms
- Manipulator arm for handling of objects in confined spaces
Recommendations
Inverse Kinematics of a 5-DOF Hybrid Manipulator
AbstractControl of any robotic system cannot be executed without a preliminary solution of the inverse kinematic problem. This problem implies determining the control actions of the actuators required to perform a given motion trajectory and embedded into ...
Kinematics and Workspace Analysis of a Disc Cutter Replacement Manipulator for TBM in a Constrained Motion Space
Intelligent Robotics and ApplicationsAbstractThis paper presents a 6-DOF hydraulic manipulator for replacing the disc cutters in the confined space of a TBM. Firstly, the mechanism design of the manipulator is briefly introduced, and the kinematics coordinate system is built based on the D-H ...
Joint angle variations analyses of the two link planar manipulator in welding by using inverse kinematics
In this paper, the joint angles of a two link planar manipulator are calculated by using inverse kinematics equations together with some geometric equalities. For a given position of the end-effector the joint angle and angular velocity of the links are ...
Comments