Kinematics, Workspace, and Design of a Dual-Arm Spatial Robot in Zero Gravity

[+] Author and Article Information
Sunil Kumar Agrawal, R. Garimella

Department of Mechanical Engineering, Ohio University, Athens, OH 45701

J. Mech. Des 116(3), 901-907 (Sep 01, 1994) (7 pages) doi:10.1115/1.2919467 History: Received May 01, 1992; Revised May 01, 1993; Online June 02, 2008


In the current literature on space robotics, an important idea that is overlooked is that the features of a space robot system need not be the same as those designed for use on earth. The differences arise due to conservation of linear and angular momentum applicable to free-floating manipulators. The objectives of this paper are: (1) to build a kinematic model of a robot system operating in space with two human-like arms, (2) to develop algorithms for determining inverse solutions and workspace, and (3) to provide guidelines for design of multi-arm robot systems for space applications. We show from these studies that inertial parameters such as link masses play an important role in determining the inverse solutions and workspace boundaries.

Copyright © 1994 by The American Society of Mechanical Engineers
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