A Multi-Use Manufacturing Manipulator (MUMM) Based on the EMMA Robotic Arm

GreyPilgrim LLC has patented and developed a long-reach manipulator that combines modular components in a reconfigurable, flexible, lightweight design suitable for a wide variety of commercial and government applications. We have demonstrated 8¿, 15¿, and 33¿ implementations of the modular EMMA¿ robotic arm technology under DOE Hanford contracts for use in retrieving nuclear waste from deteriorating underground storage tanks. The arm is also being developed with Boeing for aerospace manufacturing processes such as cleaning, depainting, and inspection of aircraft. Much of these R&D efforts have taken place under the auspices of a CRADA between GreyPilgrim LLC and the National Institute of Standards and Technology (NIST), where an open-architecture control system is being incorporated into the EMMA controller. The proposed multi-use manufacturing manipulator (MUMM) is similar in many respects to versions of EMMA already demonstrated. GreyPilgrim is therefore able to offer substantially greater progress than is normally possible with a Phase I SBIR contract. Proposed Phase I research will focus upon system modularity, portability, and flexibility requirements, deployment scenarios, and arm/tool integration. In Phase II a working prototype will be built and tested.