Design of a Dual Forearm Modular Robot.

摘要

This paper describes the design of an eight-degree-of-freedom robotic device which will be used to automate a radioactive chemical sample handling and assaying operation. Several innovative designs will allow the robot to adapt to an existing process without requiring major modifications to the facility. A unique arm joint arrangement, containing two elbow and forearm assemblies, is used. This configuration allows the robot to conduct simultaneous manipulation operations, to lift varying payloads, and to perform tasks of varying dexterity. Both modular and sealed component designs are used. A brief description of the control system is also presented. 2 refs., 6 figs. (ERA citation 14:024983)