Design and Construction of the Aerobot Robotic Manipulator (ARM)

Abstract

This thesis designed, constructed, and tested a robotic arm for the Aerobot (Aerial Robot). The main purpose of the ARM is to enable the Aerobot to retrieve objects for use in an annual robotics competition. Design of the ARM involved synthesizing the characteristics of simplicity, weight, strength, and size. The result was a three-degree-of-freedom manipulator that uses electric motors, cable linkages, and telescoping tubes to access a work space below the Aerobot. Forward and inverse kinematics were investigated to enable automation of the ARM. Data was collected from infrared sensors to validate the model. Manipulation of the ARM is presently under open loop control (joy stick) which demonstrates the use of tele-robotics and its capabilities.

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Document Details

Document Type
Technical Report
Publication Date
Dec 01, 1993
Accession Number
ADA275362

Entities

People

  • William L. Cochran

Organizations

  • Air Force Institute of Technology

Tags

Communities of Interest

  • Air Platforms
  • Autonomy
  • Ground and Sea Platforms
  • Space
  • Weapons Technologies

DTIC Thesaurus Topics

  • Aircrafts
  • Construction
  • Control Systems
  • Coordinate Systems
  • Detection
  • Detectors
  • Electric Motors
  • Engineering
  • Fabrication
  • Geometry
  • Guidance
  • Measurement
  • Mechanical Engineering
  • Mechanics
  • Unmanned Aerial Vehicles
  • Unmanned Systems
  • Unmanned Vehicles

Readers

  • Robotics and Automation.

Technology Areas

  • AI & ML
  • AI & ML - Autonomous Systems
  • Autonomy
  • Space
  • Space - Spacecraft Maneuvers