Parallel Linkage

1. Requirements

The structure of the robotic arm is the connection point between the rover and the end-manipulator. Hence, it is crucial to aim for a large reach and a lightweight dynamic structure that can support the loaded gripper and allow for precise motion. Before starting the design phase, a list of requirements was set:

2. Concept & Motivation

A parallel linkage was chosen as the structure of the robotic arm for weight reduction purposes. During early design phases, it was observed that the shoulder motor (see Figure 1) would require significantly higher torque requirements to handle the rest of the arm. These high torque requirements are induced by the considerable length of the robotic arm (aiming for a reach of around 1 m) but also because of the weight created by the elbow motor that results in a significant increase in inertia.

Figure 1: Kinematic diagram of traditional robotic arms and joint names

3. Design & Materials