Design and Kinematics Analysis of Planetary Sampling Manipulator with Lightweight

Abstract:

To reduce launching load of rocket and power consumption of rover, design of sampling manipulator was proposed which was lightweight, low-power consumption and multifunctional. Stability principle of triangle was used to comprise stable structure between robotic arm and locking device. And the weight of planetary rover was effectively reduced and its energy efficiency was greatly improved by combining manipulator and mast lifting stereo camera into one. Forward and inverse formulas were built by using D-H method and Robotics Toolbox was used for kinematics simulation. The simulation results indicate that the design of samping manipulator is reasonal which meets the purposes of lightweight and low power consumption.

• Periodical: Applied Mechanics and Materials (Volume 681)
• Pages: 86-89
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.681.86
• Online since: October 2014
• Authors: Xiao Xiao Sun, Bing Wei Zhang*, Jia Ju Liu, Qiao Chen
• Keywords: Light Weight, Locking Device, Multifunction, Sampling Manipulator

References

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[2] Bingwei Zhang, Guanjun Liu, Jie Liu. A locking device for manipulator of planetary rover: China Patent, 20111031327. 0. (2011-10-14).

[3] John J. Craig. Introduction to Robotics: Mechanics and Control. Pearson Educational International (2004).

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