Design of a Lightweight Hyper-Redundant Deployable Binary Manipulator

Vivek A. Sujan; Steven Dubowsky

doi:10.1115/1.1637647

Design of a Lightweight Hyper-Redundant Deployable Binary Manipulator

Vivek A. Sujan
, Steven Dubowsky

Research output: Contribution to journal › Article › peer-review

68 Scopus citations

Abstract

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.

Original language	English
Pages (from-to)	29-39
Number of pages	11
Journal	Journal of Mechanical Design
Volume	126
Issue number	1
DOIs	https://doi.org/10.1115/1.1637647
State	Published - Jan 2004
Externally published	Yes

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abstract = "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.",

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Design of a Lightweight Hyper-Redundant Deployable Binary Manipulator

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