This paper presents the design of a new lightweight, hyper-redundant, deployable Binary Robotic Articulated Intelligent Device (BRAID), for space robotic systems. The BRAID is intended to meet the challenges of future space robotic systems that need to perform more complex tasks than are currently feasible. It is lightweight, has a high degree of freedom, and has a large workspace. The device is based on embedded muscle type binary actuators and flexure linkages. Such a system may be used for a wide range of tasks, and requires minimal control computation and power resources.
Design of a Lightweight Hyper-Redundant Deployable Binary Manipulator
Contributed by the Mechanisms and Robotics Committee for publication in the JOURNAL OF MECHANICAL DESIGN. Manuscript received July 2002; revised June 2003. Associate Editor: D. C. H. Yang.
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Sujan , V. A., and Dubowsky, S. (March 11, 2004). "Design of a Lightweight Hyper-Redundant Deployable Binary Manipulator ." ASME. J. Mech. Des. January 2004; 126(1): 29–39. https://doi.org/10.1115/1.1637647
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