NDLI: The romps robot in hitchhiker

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The romps robot in hitchhiker

Content Provider	NASA Technical Reports Server (NTRS)
Author	Voellmer, George
Copyright Year	1992
Description	The Robotics Branch of the Goddard Space Flight Center has under development a robot that fits inside a Get Away Special can. In the RObotic Materials Processing System (ROMPS) HitchHiker experiment, this robot is used to transport pallets containing wafers of different materials from their storage rack to a halogen lamp furnace for rapid thermal processing in a microgravity environment. It then returns them to their storage rack. A large part of the mechanical design of the robot dealt with the potential misalignment between the various components that are repeatedly mated and demated. A system of tapered guides and compliant springs was designed to work within the robot's force and accuracy capabilities. This paper discusses the above and other robot design issues in detail, and presents examples of ROMPS robot analyses that are applicable to other HitcherHiker materials handling missions.
File Size	736662
Page Count	16
File Format	PDF
Alternate Webpage(s)	http://archive.org/details/NASA_NTRS_Archive_19930003991
Archival Resource Key	ark:/13960/t6q00438t
Language	English
Publisher Date	1992-10-01
Access Restriction	Open
Subject Keyword	Mechanical Engineering Robot Control Materials Handling Robot Dynamics Robotics Luminaires Furnaces Misalignment Wafers Halogens Get Away Specials Sts End Effectors Elastic Properties Microgravity Robots Ntrs Nasa Technical Reports Server (ntrs) Nasa Technical Reports Server Aerodynamics Aircraft Aerospace Engineering Aerospace Aeronautic Space Science
Content Type	Text
Resource Type	Article

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