Abstract
This paper presents the design and development of a Multi-module Deployable Manipulator System (MDMS) as well as a dynamical formulation for it. The system is designed for experimental investigations aimed at dynamics and control of this variable geometry manipulator by implementing different control algorithms to regulate its performance. The manipulator operates in a horizontal plane and is unique in that it comprises of four modules, each of which has one revolute joint and one prismatic joint, connected in a chain topology. Each module has a slewing link of approximately 20cm length and is capable of extending by 15cm. The manipulator design involves the selection and sizing of actuators, the design of mounting and connecting components, and the selection of hardware as well as software for real-time control. The dynamical model is formulated using an O(N) algorithm, based on the Lagrangian approach and velocity transformations. The O(N) character is computationally efficient permitting real-time control of the system.
