Manipulator arm for handling of objects in confined spaces

Abstract

Manipulator on mobile platform having multiple degrees of freedom performing variety of tasks can be seen in field of education, research and military applications. It is imperative to use these manipulators for only limited workspace for which either these are designed or for such applications in which solutions can be achieved in given workspace of manipulator. Mobile platforms carrying a versatile manipulator onto it are finding place in armory of armed forces worldwide. This paper presents unique design of manipulator arm for confined spaces with 5 DOF. Manipulator arm designed in such a way that extraction of suspected items can be carried out from places like railway compartment and aircraft cabin. Some features which make this manipulator distinguished in class are compact design and lightweight. A two stage linear actuator is designed for this manipulator to enhance vertical reach. In this paper design of the manipulator, selection of actuators along with prime movers, kinematic analysis and stance evaluation are discussed.