The University of Edinburgh -
Division of Informatics
Forrest Hill & 80 South Bridge

MSc Thesis #9743

Title:Cat'S Paws
Date:Sep 1997
Abstract:This thesis deals with the design of a manipulator for an autonomous robot. The main features required of this manipulator were: extreme versatility, very high reliability and, at the same time, compact dimensions. Therefore mechanical problems were to be tackled and overcome in order to provide a suitable configuration. In order to validate the design, a modelling and simulation phase was implemented. Basic behaviours were to be implemented in order to accomplish the required tasks: manipulate small objects in a complex cat-like behaviour. Finally a testing phase was to be taken forward in order to establish the suitablity of the device its field of application.

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