Robotic manipulator

[Todo: add intro]

Compactness operation-frequency and degrees-of-freeodom

• mill style (naoscale)
• parallel robotics (greater structural stiffness)
• mixed parallel serial robotics
• serial robotics (greater range of motion)
• hard surface part streaming style robotics
• soft surface organics shape mokel metamaterial based macro-robotics
  See: Soft-core macrorobots with hard-core nanomachinery

Type of mechanical chaining

Serial robots

Purely mechanical serial robotics can expose the problem of unintended differential bearings. When the control of the second joint from the root is threaded through the first joint by e.g. a conical gear turning the first joint will cause the second joint to move too when no measures are taken. [Todo: add mechanical equivalent circuit diagram to make this more clear] [Todo: discuss methods for preventing or compensating that, e.g. small angle designs]

Examples of stiffened classical robot arms potentially suitable for APM systems:

• K. Eric Drexlers robot arm design [add reference]. It mitigates the "unintended differential bearing effect" by using flexible nanotubes and a very high gearing ratios.
• Another design by J. Storrs Hall [1] [Todo: analyze and shortly discuss]

Parallel robots

• steward plattform
• parallel mechanics form industrial designs and DIY 3D printers

Further criteria

Classification based on bearing types

• designs avoiding sliding rails
• designs avoiding ball bearings

Use cases of robotic manipulators in APM systems

• robotic mechanosyntesis cores
• DME assembly robotics
• microcomponent assembly robotics
• higher level convergent assembly robotics

Related

• Gem-gum tentacle manipulator
• Organically shaped truss crane