| contributor author | Sunil Kumar Agrawal | |
| contributor author | R. Garimella | |
| date accessioned | 2017-05-08T23:45:00Z | |
| date available | 2017-05-08T23:45:00Z | |
| date copyright | September, 1994 | |
| date issued | 1994 | |
| identifier issn | 1050-0472 | |
| identifier other | JMDEDB-27620#901_1.pdf | |
| identifier uri | http://yetl.yabesh.ir/yetl/handle/yetl/114044 | |
| description abstract | In the current literature on space robotics, an important idea that is overlooked is that the features of a space robot system need not be the same as those designed for use on earth. The differences arise due to conservation of linear and angular momentum applicable to free-floating manipulators. The objectives of this paper are: (1) to build a kinematic model of a robot system operating in space with two human-like arms, (2) to develop algorithms for determining inverse solutions and workspace, and (3) to provide guidelines for design of multi-arm robot systems for space applications. We show from these studies that inertial parameters such as link masses play an important role in determining the inverse solutions and workspace boundaries. | |
| publisher | The American Society of Mechanical Engineers (ASME) | |
| title | Kinematics, Workspace, and Design of a Dual-Arm Spatial Robot in Zero Gravity | |
| type | Journal Paper | |
| journal volume | 116 | |
| journal issue | 3 | |
| journal title | Journal of Mechanical Design | |
| identifier doi | 10.1115/1.2919467 | |
| journal fristpage | 901 | |
| journal lastpage | 907 | |
| identifier eissn | 1528-9001 | |
| keywords | Kinematics | |
| keywords | Gravity (Force) | |
| keywords | Robots AND Design | |
| tree | Journal of Mechanical Design:;1994:;volume( 116 ):;issue: 003 | |
| contenttype | Fulltext | |
