A preliminary design of a manipulator system, applicable to a Free-Flying Teleoperator Spacecraft operating in conjunction with the Shuttle or Tug, is presented. The manipulator arm incorporates two 4-ft segments to the wrist with actuators located at the shoulder, elbow, and wrist. The wrist provides three degrees-of-freedom through pitch, yaw and continuous roll joints. An interchangeable end effector provides multiple task performance and satellite worksite versatility. A tip force of 10 lbs and a torque of 15 ft-lbs is provided. Man-in-the-loop simulations, using both unilateral and bilateral control techniques, were conducted. Based upon the simulation, a new, but relatively simple, control technique was proposed for the manipulator system.


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    Titel :

    A manipulator system designed for Free-Flying Teleoperator Spacecraft


    Beteiligte:
    Tewell, J. R. (Autor:in) / Spencer, R. A. (Autor:in) / Lazar, J. J. (Autor:in)

    Kongress:

    Human Factors Society, Annual Meeting ; 1974 ; Huntsville, AL


    Erscheinungsdatum :

    01.01.1974


    Medientyp :

    Sonstige


    Format :

    Keine Angabe


    Sprache :

    Englisch




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    Advanced teleoperator spacecraft

    TEWELL, J. / SPENCER, R. | AIAA | 1978


    Free-flying teleoperator requirements and conceptual design.

    Onega, G. T. / Clingman, J. H. | NTRS | 1973


    Unmanned teleoperator spacecraft /UTS/ technology

    ADAMSKI, D. / MILLER, R. | AIAA | 1969


    Earth Orbital Teleoperator Manipulator System Evaluation Program

    M. Kirkpatrick / N. L. Shields / P. N. Frederick et al. | NTIS | 1975