The robotic manipulator can be decomposed into distinct subsytems. One particular area of interest of mechanical subsystems is electromechanical actuators (or drives). A drive is defined as a motor with an appropriate transmission. An overview is given of existing, as well as state-of-the-art drive systems. The scope is limited to space applications. A design philosophy and adequate requirements are the initial steps in designing a space-qualified actuator. The focus is on the d-c motor in conjunction with several types of transmissions (harmonic, tendon, traction, and gear systems). The various transmissions will be evaluated and key performance parameters will be addressed in detail. Included in the assessment is a shuttle RMS joint and a MSFC drive of the Prototype Manipulator Arm. Compound joints are also investigated. Space imposes a set of requirements for designing a high-performance drive assembly. Its inaccessibility and cryogenic conditions warrant special considerations. Some guidelines concerning these conditions are present. The goal is to gain a better understanding in designing a space actuator.


    Access

    Access via TIB

    Check availability in my library


    Export, share and cite



    Title :

    Actuators for a space manipulator


    Contributors:
    Chun, W. (author) / Brunson, P. (author)


    Publication date :

    1987-01-01


    Type of media :

    Conference paper


    Type of material :

    No indication


    Language :

    English




    Actuators for a Space Manipulator

    W. Chun / P. Brunson | NTIS | 1987




    Space sliding manipulator

    WEI HUAHAI / PENG GONGMING / TAN WANHU et al. | European Patent Office | 2023

    Free access

    Vibration Suppression of Flexible-Link Manipulator by PZT Actuators and Sensors

    Davighi, A. / Romano, M. / Bernelli-Zazzera, F. et al. | British Library Conference Proceedings | 2006