{"id":{"repo_id":"cape-town","oai_identifier":"oai:open.uct.ac.za:11427/12277"},"canonical_url":"https://search.dev.ndltd.org/etd/cape-town/oai:open.uct.ac.za:11427/12277","repository":{"repo_id":"cape-town","name":"University of Cape Town","base_url":"https://open.uct.ac.za/oai/request"},"display":{"title":"Development of a 6 degree-of-freedom manipulator arm for use on an urban search and rescue robot","abstract":"This document reports on the design, construction and testing of the manipulator arm that is to be fitted to UCT's Urban Search and Rescue Robot (USRR), named the Ratel. The 6 degree-of-freedom manipulator arm is mounted on the crawler base. The USRR is designed to traverse difficult terrain in search of survivors. The base is therefore equipped with variable geometry tracks to enable it to traverse stairs and other tricky terrain. 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