DESIGN AND ANALYSIS OF AN INNOVATIVE MODULAR EXTENDABLE MANIPULATOR
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Copyright 2014 by ASME. This study present a design and analysis scheme for the extend-able modular robotic manipulator with multi Degree of Freedom links that is capable of elongating by 15 % of its nominal length. The intent is to facilitate the movement of the proposed robotic manipulator in constraint environments, such as rubble piles. In this context, the total number of links decided by optimization methodology can be a useful distinction in practice. In order to identify the benefits of the proposed design strategy, the reachable workspace of the proposed manipulator is compared with that of the Jet Propulsion Laboratory (JPL) serpentine robot. The simulation results show that the proposed manipulator has a relatively efficient reachable workspace to deal with a variety of constrained directions, needed in constrained environments. Also, the singularity of the designed manipulator is investigated.
