Design of a Lightweight Hyper-Redundant Deployable Binary Manipulator

[+] Author and Article Information
Vivek A. Sujan, Steven Dubowsky

Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, MA 02139

J. Mech. Des 126(1), 29-39 (Mar 11, 2004) (11 pages) doi:10.1115/1.1637647 History: Received July 01, 2002; Revised June 01, 2003; Online March 11, 2004
Copyright © 2004 by ASME
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Potential BRAID applications—coring rock samples 4
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BRAID design concept, (a) Assembled structure; (b) Single parallel link stage final design
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Detent based binary joint 46
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ith parallel link stage, (a) Physical parallel link stage; (b) diagrammatic representation
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Projection of section ABCD from Figure 4
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Projection of section EFGH from Figure 4(b)
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One stage of the BRAID, showing its eight binary configurations.
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Position workspace of 5 stage BRAID element (BRAID element base center=origin)
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Inverse kinematics solution times for various algorithms.
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Average errors vs. number of DOF for different algorithms (100 samples per DOF), (a) displacement error; (b) angular error
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Error distribution for a 15-stage BRAID (100 samples), (a) displacement error, (b) angular error
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Search algorithm convergence for a single target point for n-staged BRAIDs, (a) Genetic search convergence; (b) Combinatorial search convergence
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Endpoint positioning and avoiding obstacles 4
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Spline curve to match (see text for description)
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Average r.m.s. displacement error vs. number of BRAID stages (100 samples)
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Error distributions for a 50 staged BRAID (100 samples)
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SMA power and control bus, (a) Overview of actuator control electronics; (b) Power/control bus decoder architecture
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SMA power bus address decoding and latching electronics
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Experimental platform of BRAID



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