Construction of a Hyper Redundant Robotic Tentacle Manipulator

Abstract

This report presents the design and development of a robotic tentacle manipulator research platform as a tool to explore new methods of enhancing the capabilities of remotely operated manipulators, autonomous manipulation, and autonomous search. We review the current state of dexterous manipulators and past milestones, choose manipulator morphology based on this review, and evaluate the morphology on the basis of design, control, and manufacturing constraints. A feasible architecture for a robotic tentacle manipulator research platform is conceived, designed, and built. Design and development of software, hardware, and mechanical components is presented. Applications of the robotic tentacle manipulator in autonomous robots are investigated. Potential effects of various design decisions are evaluated and strategies for platform improvements are suggested.

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Document Details

Document Type
Technical Report
Publication Date
Jun 01, 2012
Accession Number
ADA568730

Entities

People

  • Derek Scherer
  • Miles C. Pekala

Organizations

  • United States Army Research Laboratory

Tags

Communities of Interest

  • Autonomy
  • Energy and Power Technologies

DTIC Thesaurus Topics

  • Communications Protocols
  • Computer-Aided Design
  • Computers
  • Construction
  • Control
  • Control Systems
  • Electronics
  • Fused Deposition Modeling
  • Manufacturing
  • Mechanical Components
  • Mechanics
  • Operating Systems
  • Platforms
  • Power Supplies
  • Standards
  • Three Dimensional
  • User Interface

Readers

  • Robotics and Automation.
  • Systems Analysis and Design

Technology Areas

  • AI & ML
  • AI & ML - Autonomous Systems
  • AI & ML - DoD AI Strategy
  • Autonomy