Design, analysis and control for an antarctic modular manipulator |
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Authors: | JIANG Zhi-hong LI Hong-jie XIAO Tao YUAN Bao-feng LI Hui DONG Que WEI Bo |
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Affiliation: | School of Mechatronical Engineering, Beijing Institute of Technology, Beijing 100081, China;School of Mechatronical Engineering, Beijing Institute of Technology, Beijing 100081, China;China Academy of Space Technology, Beijing 100094, China;China Academy of Space Technology, Beijing 100094, China;School of Mechatronical Engineering, Beijing Institute of Technology, Beijing 100081, China;School of Mechatronical Engineering, Beijing Institute of Technology, Beijing 100081, China;School of Mechatronical Engineering, Beijing Institute of Technology, Beijing 100081, China |
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Abstract: | Antarctic scientific expedition has important strategic significance. It is an inevitable trend to apply robots to assist researchers during the Antarctic expedition. However, the robot manipulators at present have a series of problems and unable to meet the requirements of the Antarctic expedition. In this paper, a novel Antarctic modular robot manipulator is proposed, which has a compact structure with modular joints. The robot manipulator has high reliability, and quick assembling-and-disassembling ability. Through well wires arranging and thermal controlling, the manipulator can better adapt to the Antarctic environment. In addition, the work space of the manipulator is seriously analyzed, and a new hybrid position/force control method is adopted to make the manipulator perform better. Simulation results validate the control method and show that the robot manipulator has a good performance to meet the requirements of Antarctic expedition. |
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Keywords: | Antarctic manipulator modularization hybrid position/force control motion control |
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