Toward the Design and Simulation of a New Generation ofudReconfigurable Space Manipulators using Telescoping Passive Joints

摘要

This work presents the analysis, simulation, design, and assembly of a three-degree-of-freedomudreconfigurable robotic arm. Unlike conventional reconfigurable robots, the final design illustratedudin this paper does not achieve re-configurability through modular joints; instead, it is equippedudwith passive telescopic joints. These passive joints allow the robotic arm to change its Denavit-udHartenberg parameters via an innovative breaking system. The robotic arm itself presents manyudadvantages; not only is it versatile to perform various tasks, but it can be packed into a smalludvolume, as usually required for launch in space applications.