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A lightweight, high strength dexterous manipulator for commercial applications
| Content Provider | NASA Technical Reports Server (NTRS) |
|---|---|
| Author | Cohan, Steve M. Marzwell, Neville I. Schena, Bruce M. |
| Copyright Year | 1991 |
| Description | The concept, design, and features are described of a lightweight, high strength, modular robot manipulator being developed for space and commercial applications. The manipulator has seven fully active degrees of freedom and is fully operational in 1 G. Each of the seven joints incorporates a unique drivetrain design which provides zero backlash operation, is insensitive to wear, and is single fault tolerant to motor or servo amplifier failure. Feedback sensors provide position, velocity, torque, and motor winding temperature information at each joint. This sensing system is also designed to be single fault tolerant. The manipulator consists of five modules (not including gripper). These modules join via simple quick-disconnect couplings and self-mating connectors which allow rapid assembly and/or disassembly for reconfiguration, transport, or servicing. The manipulator is a completely enclosed assembly, with no exposed components or wires. Although the initial prototype will not be space qualified, the design is well suited to meeting space requirements. The control system provides dexterous motion by controlling the endpoint location and arm pose simultaneously. Potential applications are discussed. |
| File Size | 475271 |
| Page Count | 9 |
| File Format | |
| Alternate Webpage(s) | http://archive.org/details/NASA_NTRS_Archive_19920013439 |
| Archival Resource Key | ark:/13960/t2f818b09 |
| Language | English |
| Publisher Date | 1991-12-01 |
| Access Restriction | Open |
| Subject Keyword | Mechanical Engineering Degrees of Freedom Manipulators Torque Motors Wire Mechanical Drives Connectors Robot Arms Fault Tolerance Wear Assembling Coupling Servomechanisms Telerobotics Ntrs Nasa Technical Reports Server (ntrs) Nasa Technical Reports Server Aerodynamics Aircraft Aerospace Engineering Aerospace Aeronautic Space Science |
| Content Type | Text |
| Resource Type | Article |
