TOWARD THE DESIGN AND SIMULATION OF A NEW GENERATION OF RECONFIGURABLE SPACE MANIPULATORS USING TELESCOPING PASSIVE JOINTS

摘要

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