The design of an additive manufactured dual arm manipulator system

Additive manufacturing (AM), commonly referred to as 3D printing, was originally used for rapid prototyping. However, research into new technologies has allowed AM to become applicable far beyond prototype fabrication. Oak Ridge National Laboratory (ORNL), sponsored by the Office of Naval Research, has designed and developed an anthropomorphic seven degree-of-freedom (DOF) dual arm hydraulic manipulator using metal AM technologies. The titanium manipulators are designed for subsea use. All electrical and fluidic passageways are printed into each arm. The novel, cam-based design uses low-flow, energy-efficient valves. The hydraulic power unit is built into the base of the hydraulic arms' mount. This article will detail the novel AM design of the hydraulic manipulator system. It will cover the manipulators' pitch and rotary link designs, custom valves, hydraulic power unit, and the motivation for a dual arm design. This article will also describe lessons learned throughout the project and draw conclusions for future applications.