Design and Testing of a Stewart Platform Augmented Manipulator for Space Applications

Terrence W. Fong
Master's Thesis, Department of Aeronautics and Astronautics,ed., Massachusetts Institute of Technology, July, 1990


Download
  • Adobe portable document format (pdf) (14MB)
Copyright notice: This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. These works may not be reposted without the explicit permission of the copyright holder.

Abstract
An innovative nine degree-of-freedom robotic manipulator intended for neutral buoyancy space simulation research has been developed. The manipulator design specifications were driven by two primary goals: to duplicate and surpass the operational characteristics of the Shuttle Remote Manipulator System (SRMS) and to serve as a robust, neutral-buoyancy positioning system. The ability to provide fine tip positioning as well as large force production capability was realized by decoupling the system design into a three degree-of-freedom, revolute joint, manipulator arm augmented by a six degree-of-freedom, parallel-link, micromanipulator.

Keywords
manipulator

Notes

Text Reference
Terrence W. Fong, "Design and Testing of a Stewart Platform Augmented Manipulator for Space Applications," Master's Thesis, Department of Aeronautics and Astronautics,ed., Massachusetts Institute of Technology, July, 1990

BibTeX Reference
@book{Fong_1990_3180,
   author = "Terrence W Fong",
   editor = "Department of Aeronautics and Astronautics",
   title = "Design and Testing of a Stewart Platform Augmented Manipulator for Space Applications",
   booktitle = "Master's Thesis",
   publisher = "Massachusetts Institute of Technology",
   address = "Cambridge, MA",
   month = "July",
   year = "1990",
   volume = "Master's Thesis",
}