SBIR-STTR Award

A manipulator design is proposed which uses advanced materials and control techniques to achieve performance far superior to that of conventional manipulators. Preliminary studies indicate that a manipulator can be designed with a useful load capacity of 100 kilograms, a useful reach of 2.5 meters, and end-effector speed of at least 5 meters/sec, and a weight of less than 500 kilograms. The design makes use of end-effector feedback control of a compliant structure to reduce weight. Hybrid hydraulic/hydrostatic actuation provides ample power and speed with good energy efficiency. Composite materials are used in areas where highs stiffness is essential. The objective of the phase I effort is to establish the feasibility of all the technologies required to achieve the stated performance. Design studies will be performed in the areas of control, computer systems, hydraulic systems, kinematics, and mechanical structures. A preliminary design for a high performance manipulator will be completed.

A high performance manipulator is proposed which uses advanced design concepts and control technique to achieve performance far superior to that of conventional manipulators. The completed phase I design studies indicate that a manipulator can be developed with a useful load capacity of 100 kilograms, a useful reach of 2.5 meters, a working volume of 8.7 cubic meters, and end-effector acceleration of 19.6 meters per second squared, and end-effector speed of 5 meters/ second, and a weight of 397 kilograms. The high performance manipulator system uses lightweight structure and endpoint feedback to achieve high performance. It is configured for use on mobile systems, where its high power to weight ratio and good energy efficiency are of critical importance. Because of the moderate length of the manipulator (2.5 meters), a reference arm is used to provide endpoint feedback. Hybrid hydraulic/hydrostatic actuation provides ample power and speed with good energy efficiency. The objective of the phase ii effort is to perform the detailed design, construction, and testing of the high performance manipulator.