Design Outline for Mini-Arms Based on Manipulator Technology,
MASSACHUSETTS INST OF TECH CAMBRIDGE ARTIFICIAL INTELLIGENCE LAB
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The design of small manipulators is an art requiring proficiency in diverse disciplines. This paper documents some of the general ideas illustrated by a particular design for an arm roughly one quarter human size. The material is divided into the following sections General design constraints features of existing manipulator technology scaling relationships for major arm components design of a particular small manipulator and comments on future possibilities.