Manipulatory Devices

Part of the Space Technology Library book series (SPTL, volume 26)

Abstract

Space robots are often provided with manipulatory devices, which are essential to perform tasks like grasping spacecraft or specimens, operating tools or cameras for inspection and many other duties. In most cases these manipulatory devices are open kinematic chains, which may bear some similarity with human arms or at least animal limbs. The generic term arm is used for manipulators that follow the scheme of an open kinematic chain, even if their structure is not anthropomorphic. The chapter describes the most common configurations of robot arms and the basic kinematic and dynamic relationships needed for their design.

Keywords

Inverse Kinematic Task Space Stewart Platform Space Robot Direct Kinematic 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

Copyright information

© Springer Science+Business Media B.V. 2012

Authors and Affiliations

  1. 1.Department of Mechanical and Aerospace EngineeringPolitecnico di TorinoTorinoItaly

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