NDLI: Kc-135 materials handling robotics

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Kc-135 materials handling robotics

Content Provider	NASA Technical Reports Server (NTRS)
Author	Workman, Gary L.
Copyright Year	1991
Description	Robot dynamics and control will become an important issue for implementing productive platforms in space. Robotic operations will become necessary for man-tended stations and for efficient performance of routine operations in a manned platform. The current constraints on the use of robotic devices in a microgravity environment appears to be due to an anticipated increase in acceleration levels due to manipulator motion and for safety concerns. The objective of this study will be to provide baseline data to meet that need. Most texts and papers dealing with the kinematics and dynamics of robots assume that the manipulator is composed of joints separated by rigid links. However, in recent years several groups have begun to study the dynamics of flexible manipulators, primarily for applying robots in space and for improving the efficiency and precision of robotic systems. Robotic systems which are being planned for implementation in space have a number of constraints to overcome. Additional concepts which have to be worked out in any robotic implementation for a space platform include teleoperation and degree of autonomous control. Some significant results in developing a robotic workcell for performing robotics research on the KC-135 aircraft in preperation for space-based robotics applications in the future were generated. In addition, it was shown that TREETOPS can be used to simulate the dynamics of robot manipulators for both space and ground-based applications.
File Size	770613
Page Count	26
File Format	PDF
Alternate Webpage(s)	http://archive.org/details/NASA_NTRS_Archive_19930002804
Archival Resource Key	ark:/13960/t43r5s31n
Language	English
Publisher Date	1991-04-23
Access Restriction	Open
Subject Keyword	Mechanical Engineering Teleoperators Flexible Bodies Torque Robot Control Manipulators Robot Dynamics Space Environment Simulation Robotics High Acceleration Spacecraft Maintenance C-135 Aircraft End Effectors Microgravity Ntrs Nasa Technical Reports Server (ntrs) Nasa Technical Reports Server Aerodynamics Aircraft Aerospace Engineering Aerospace Aeronautic Space Science
Content Type	Text
Resource Type	Technical Report

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