This new concept for manipulation in space is based on knowledge and experience gained from manipulator systems developed to meet the needs of remote nuclear applications. It merges the best characteristics of teleoperation and robotic technologies. The design goals for the telerobot, a mechanical and control description, and technology areas that must be addressed for successful implementation will be presented and discussed. The concept incorporates mechanical traction drives, redundant kinematics, and modular arm subelements to provide a backlash-free manipulator capable of obstacle avoidance. Further development of this arm is in progress at Oak Ridge National Laboratory. (ERA citation 12:023193)


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    Title :

    Traction Drive Seven Degrees-of-Freedom Telerobot ARM: A Concept for Manipulation in Space


    Contributors:
    H. L. Martin (author) / D. P. Kuban (author)

    Publication date :

    1987


    Size :

    10 pages


    Type of media :

    Report


    Type of material :

    No indication


    Language :

    English





    Traction-drive telerobot for space manipulation

    Herndon, J. N. / Hamel, W. R. / Kuban, D. P. | NTRS | 1987


    Traction-Drive Telerobot for Space Manipulation

    J. N. Herndon / W. R. Hamel / D. P. Kuban | NTIS | 1987



    Telerobot for Space Station

    L. M. Jenkins | NTIS | 1987