MECHANICAL DESIGN OF DEXTEROUS MANIPULATOR LINKS

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dc.contributor.advisorAkin, David Len_US
dc.contributor.authorCarlsen, Christopher Jamesen_US
dc.contributor.departmentAerospace Engineeringen_US
dc.contributor.publisherDigital Repository at the University of Marylanden_US
dc.contributor.publisherUniversity of Maryland (College Park, Md.)en_US
dc.date.accessioned2019-06-19T05:30:24Z
dc.date.available2019-06-19T05:30:24Z
dc.date.issued2018en_US
dc.description.abstractThis paper explores the challenges of dense structure-electronics packaging, specifically for a structural and electronics upgrade to the Ranger Tele-robotic Shuttle Experiment (RTSX) manipulators at the University of Maryland (UMD). Long serial-link manipulators are popular in the space industry, where the need for a long reach and high manipulability outweighs the need for high tip stiffness. For larger systems with co-located electronics, such as those used to berth vehicles on orbit, electronics packaging is not inhibited by the diameter of the link body. As link diameter decreases, co-locating electronics in the manipulator becomes diffcult without adding external extensions to house them. In such densely packed bodies, the control electronics are so integrated with structure that electronics maintenance requires disassembly of primary structure.en_US
dc.identifierhttps://doi.org/10.13016/k5qd-07cb
dc.identifier.urihttp://hdl.handle.net/1903/21862
dc.language.isoenen_US
dc.subject.pqcontrolledAerospace engineeringen_US
dc.subject.pquncontrolledDesignen_US
dc.subject.pquncontrolledDexterousen_US
dc.subject.pquncontrolledManipulatoren_US
dc.subject.pquncontrolledMechanicalen_US
dc.subject.pquncontrolledRoboten_US
dc.subject.pquncontrolledSpaceen_US
dc.titleMECHANICAL DESIGN OF DEXTEROUS MANIPULATOR LINKSen_US
dc.typeThesisen_US

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