TASK-BASED OPTIMIZATION OF MULTI-ARM SPACE ROBOTICS

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dc.contributor.advisorAkin, David Len_US
dc.contributor.authorMcBryan, Katherine Marieen_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.accessioned2019-02-05T06:32:04Z
dc.date.available2019-02-05T06:32:04Z
dc.date.issued2018en_US
dc.description.abstractThere are many benefits to using multi-arm systems over a single arm system including higher flexibility in planning, better payload handling capacity, and reduction of joint torques. However, multi-arm systems are inherently more complex. This complexity does not necessarily translate to ``bigger" and ``heavier". This research seeks to answer the question of whether or not a multi-arm system can have lower mass than a single arm system. Using a task-based methodology, Independent single-arm and cooperative dual-arm manipulator systems are designed. A task defines the payload's motion and thus the manipulator's trajectory. Utilizing linear programming, a new method is developed in order to optimize the distribution of forces among the multiple arms in order to guarantee a minimum system mass. The mass of the motors and gears are estimated based on the required torque and speed, obtained from the trajectory and force-distribution. This study shows that a well-designed multi-arm system can in fact have a lower mass than a single-arm system. Further optimization demonstrates that a multi-arm system, when designed as a complete system rather than individual parts, can significantly reduce the total system mass.en_US
dc.identifierhttps://doi.org/10.13016/lywx-vl8t
dc.identifier.urihttp://hdl.handle.net/1903/21682
dc.language.isoenen_US
dc.subject.pqcontrolledRoboticsen_US
dc.subject.pquncontrolledMulti-Armen_US
dc.subject.pquncontrolledOptimizationen_US
dc.subject.pquncontrolledRoboticsen_US
dc.subject.pquncontrolledSpaceen_US
dc.subject.pquncontrolledTask-Baseden_US
dc.titleTASK-BASED OPTIMIZATION OF MULTI-ARM SPACE ROBOTICSen_US
dc.typeDissertationen_US

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