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On the joint design and hydraulic actuation of octahedron VGT robot manipulators

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6 Author(s)
Sven Rost ; Dept. of Control Syst. & Mechatron., Nat. Tech. Univ. Donetsk, Donetsk, Ukraine ; Matthias Uhlemann ; Karl-Heinz Modler ; Yevgen Sklyarenko
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In this paper, the design for variable geometry truss manipulators, with 3-DOF octahedron-shaped modules and hydraulic actuation is introduced. The main features of the concept are the optimized multiple collocated spherical joints and a structure-integrated supply of the drive fluid for the hydraulic actuators. Based upon the known Spherical Joint Mechanism, design rules are deduced and modified joint elements are presented to provide a larger workspace for a single module. The potential of the resulting module design is demonstrated by the calculation of the workspace, as well as the payload-to-mass ratio. Based upon the presented results, a family of highly maneuverable light-weight hyper-redundant manipulators can be derived.

Published in:

Advanced Intelligent Mechatronics (AIM), 2011 IEEE/ASME International Conference on

Date of Conference:

3-7 July 2011