design characteristics and dynamic modeling of a cooperative dual-arm- lock manipulator

recent developments in the area of smart structures indicate that variable geometry / stiffness truss network is of fundamental importance in designing smart transformable structures and systems for space applications. this paper presents the conceptual design and dynamic modeling of a cooperative re-configurabel dual-arm robotic structure called dual-arm cam-lock manipulator. the manipulator is designed to be capable of performing a wide variety of tasks by automatically reconfiguring itself to form a variable geometry, stiffness, and workspace robotic structure. hence, it may also be referred to as a variable geometry robot manipulator (vgrm).