Title :
Lightweight hyper-redundant binary elements for planetary exploration robots
Author :
Sujan, Vivek A. ; Lichter, Matthew D. ; Dubowsky, Steven
Author_Institution :
Dept. of Mech. Eng., MIT, Cambridge, MA, USA
Abstract :
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
Keywords :
aerospace robotics; genetic algorithms; mobile robots; planetary rovers; redundancy; robot kinematics; search problems; BRAID; deployable binary robotic articulated intelligent device; embedded muscle type binary actuators; flexure linkages; lightweight hyper-redundant binary elements; planetary exploration robots; space robotic systems; Analog computers; Intelligent actuators; Intelligent robots; Kinematics; Manipulators; Muscles; Orbital robotics; Polymers; Robotic assembly; Space technology;
Conference_Titel :
Advanced Intelligent Mechatronics, 2001. Proceedings. 2001 IEEE/ASME International Conference on
Conference_Location :
Como
Print_ISBN :
0-7803-6736-7
DOI :
10.1109/AIM.2001.936904
