Design and Testing of a Stewart Platform Augmented Manipulator for Space Applications
Miscellaneous, Master's Thesis, Department of Aeronautics and Astronautics, Massachusetts Institute of Technology (MIT), June, 1990
Abstract
An innovative nine degree-of-freedom robotic manipulator intended for neutral buoyancy space simulation research has been developed. The manipulator design specifications were driven by two primary goals: to duplicate and surpass the operational characteristics of the Shuttle Remote Manipulator System (SRMS) and to serve as a robust, neutral-buoyancy positioning system. The ability to provide fine tip positioning as well as large force production capability was realized by decoupling the system design into a three degree-of-freedom, revolute joint, manipulator arm augmented by a six degree-of-freedom, parallel-link, micromanipulator.
BibTeX
@misc{Fong-1990-13118,author = {Terrence W. Fong},
title = {Design and Testing of a Stewart Platform Augmented Manipulator for Space Applications},
booktitle = {Master's Thesis, Department of Aeronautics and Astronautics, Massachusetts Institute of Technology (MIT)},
month = {June},
year = {1990},
keywords = {manipulator},
}
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