Construction of a Hyper Redundant Robotic Tentacle Manipulator

Report No. ARL-TR-6019
Authors: Miles C. D. Pekala; Derek Scherer
Date/Pages: June 2012; 36 pages
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.
Distribution: Approved for public release
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Last Update / Reviewed: June 1, 2012