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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, June, 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 = "June",
   year = "1990",
   volume = "Master's Thesis",
}

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