Volumetric reach comparison of possible end-effectors for the articulated transporter and manipulator system
- Oak Ridge National Lab., TN (USA)
- Martin Marietta Energy Systems, Inc., Oak Ridge, TN (USA)
The goal of this research was to investigate the performance of the Articulated Transporter and Manipulator System (ATMS) during various tasks relative to the choice of wrist/end-effector configuration. The approach taken was to generate computer graphics-aided three-dimensional interactive application (CATIA) system-based models of four wrist/end-effector combinations and consider the volumetric reach of each of these configurations based on the capacity of the ATMS. The results indicate that a simple, lightweight end-effector provides a greater volumetric reach. The greatest variation presented herein is {approximately}40% when comparing a 7-degree-of-freedom (DOF) dexterous arm with a simple 3-DOF arm; however, the benefit of increasing volumetric reach by only 40% by using a simple arm may be outweighed by the loss of dexterity. 10 refs., 5 figs., 3 tabs.
- Research Organization:
- Oak Ridge National Lab., TN (USA)
- Sponsoring Organization:
- DOE/NE
- DOE Contract Number:
- AC05-84OR21400
- OSTI ID:
- 6445261
- Report Number(s):
- CONF-910223-3; ON: DE91004390
- Resource Relation:
- Conference: 4. topical meeting on robotics and remote systems, Albuquerque, NM (USA), 24-28 Feb 1991
- Country of Publication:
- United States
- Language:
- English
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