Development of robotic manipulator for mobile system

Abstract

The main aim of the article is to present and describe the results of research and development of robotic manipulator (arm) with three degrees of freedom for wheeled mobile platform, which were done at Air Defence System Department, University of Defence (UoD). Several conceptions of motor drive, construction and kinematics were compared. Based on this results two real manipulator devices were made, DC electric motor drive and servo motor drive construction.