Type of Document Master's Thesis Author Thomas, Shajan A Author's Email Address email@example.com URN etd-09062011-155734 Title Design of a Teleoperated Rock Sampling System Degree Master of Science Department Mechanical Engineering Advisory Committee
Advisor Name Title Kochersberger, Kevin Bruce Committee Chair Hong, Dennis W. Committee Member Williams, Christopher B. Committee Member Keywords
- Autonomous Systems
- Robot Arm
Date of Defense 2011-07-11 Availability unrestricted AbstractTelemanipulators allow a user to interact with a potentially dangerous environment remotely.
Deploying a robot arm from a UAV would allow an operator to reach farther and quicker
than he or she would with a ground robotics system alone. This thesis will discuss the
design and fabrication of a compact, light, 3 degree of freedom robot arm using common off
the shelf products and machined components that in combination can pick up half pound
samples and has a reach of 260 mm.
Also addressed is making the telemanipulator interface easier to use. One of the challenges
in using a robot arm with a single camera in a beyond line-of-sight scenario is the difficulty
of interacting with the environment because of a loss of depth information. This lack of
information can be remedied with additional sensors. Once depth to an object of interest is
known, the sampler can automatically pick up objects of interest.
The manipulator arm will be used in conjunction with systems developed by the Unmanned
Systems Laboratory at Virginia Tech. This group is developing a unmanned ground vehicle
to be carried in the payload pod of a unmanned aerial vehicle. The robot’s ultimate objective
is to collect shrapnel and bomb material from potentially dangerous environments.
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