An 11-axis Multi-Modular Manipulator (M3) designed as a cascade of three modules: The Macro-Manipulator, the Cuatro Arm, and the Agile Wrist.

Possible applications:

To service and maintain aircraft and space structures

• In error-tolerant tasks:
• - cleaning
• - brushing
• In accuracy-demanding tasks:
• - stripping
• - deicing
• - painting

Purposes of the prototype:

To demonstrate accurate positioning of the tool carried by the orientation submodule in the presence of vibrations of the base due to the flexibility of the gross manipulator.

Main Components of the System:

Proximal Module (Gross Manipulator),

Distal Module (Fine Manipulator):

      -Positioning Submodule (Cuatro Arm).

      -Orientation Submodule (Agile Wrist).