In this paper, a new space robot system, the 'intra-vehicular free-flyer system (IVFFS), is proposed. The IVFFS supports both non-contact and contact tasks during intra-vehicular activities. To achieve this goal, the authors introduce a prototype model called 'space humming bird' that has a variably structured body to satisfy both safety and dexterity requirements. Several experiments involving a newly developed prototype model on a planar micro-gravity simulator are performed to confirm the feasibility of their concept. In the experiments, flying control and the proper procedure for wall-docking motion are introduced. Point-to-point motions, the wall-docking motion, a door-opening task and a detaching motion are performed.


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    Title :

    Intra-vehicular free-flyer with manipulation capability


    Additional title:

    Innerhalb des Raumschiffs frei fliegendes System mit Manipulatorfähigkeit


    Contributors:

    Published in:

    Advanced Robotics ; 24 , 3 ; 343-358


    Publication date :

    2010


    Size :

    16 Seiten, 15 Bilder, 1 Tabelle, 10 Quellen




    Type of media :

    Article (Journal)


    Type of material :

    Print


    Language :

    English




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