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.
