Publication

Abstract : The paper illustrates the various design parameters implemented on our robotic manipulator that enables its usage in an alien environment and for space exploration. The robotic manipulator features a light weight variable configuration arm design, high precision actuating parts, a customized power distribution grids, tele-motion control system and an unorthodox approach for obtaining inverse kinematic values. The high configurability of this arm enables it to perform different tasks efficiently under a single platform. The 6 DOF freedom arm is custom designed to specific configurations in order to provide considerable advantage over conventional manipulators used in space applications. The arm is equipped with 2 types of end effectors in an adaptive manner such that it can be utilized in grasping both symmetric to asymmetric objects.