Design and Construction of the Aerobot Robotic Manipulator (ARM)

摘要

This thesis designed, constructed, and tested a robotic arm for the Aerobot(Aerial Robot). The main purpose of the ARM is to enable the Aerobot to retrieve objects for use in an annual robotics competition. Design of the ARM involved synthesizing the characteristics of simplicity, weight, strength, and size. The result was a three-degree-of-freedom manipulator that uses electric motors, cable linkages, and telescoping tubes to access a work space below the Aerobot. Forward and inverse kinematics were investigated to enable automation of the ARM. Data was collected from infrared sensors to validate the model. Manipulation of the ARM is presently under open loop control (joy stick) which demonstrates the use of tele-robotics and its capabilities.