This section outlines the proposed robotic arm concepts and explains the rationale behind the chosen final design choice. Three concept designs were made based off research and requirements. Ideally the arm (including the gripper) should be 6DOF. Concept 1: Based on a crane and has 5 DOF. There is one rotational joint at the base for rotation about the vertical axis, and a horizontal arm which extends and retracts which allows for translation along the horizontal axes. The 'base' is able to extend which also makes it translate along the vertical axis.

Concept 2 : Based on a 3D printer and has 3DOF. The gantry to the robot arm will be attached to the side of the main rover housing (like a tray) with support structures to prevent it from collapsing. It is able to translate in the horizontal plane. The isometric view shows the support structure and the bubble is a side one view where end effector (shown in the plane) where it extends and adds a degree of freedom

This one is the 3D printer one with supporting structures to the housing, (the view is isometric) so the it is able to translate in the X and Y planes shown in the square. The triangle is meant to show the side on supporting structure…. I thought of it like a tray attached to the main housing of the rover. but it needs to be supported. The bubble is at a side on angle where it is meant to 'extend' so it can traverse up and down the Z axis.

Concept 3: Based on articulated arm robot has 5 DOF.