Manipulation hardware for microgravity research

Conference · Mon Jan 01 00:00:00 EST 1990

OSTI ID:6475675

Herndon, J N; Glassell, R L; Butler, P L; Williams, D M ^[1]; Rohn, D A ^[2]; Miller, J H ^[3]

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1. Oak Ridge National Lab., TN (USA)
2. National Aeronautics and Space Administration, Cleveland, OH (USA). Lewis Research Center
3. Sverdrup Technology, Inc., Brook Park, OH (USA)

The establishment of permanent low earth orbit occupation on the Space Station Freedom will present new opportunities for the introduction of productive flexible automation systems into the microgravity environment of space. The need for robust and reliable robotic systems to support experimental activities normally intended by astronauts will assume great importance. Many experimental modules on the space station are expected to require robotic systems for ongoing experimental operations. When implementing these systems, care must be taken not to introduce deleterious effects on the experiments or on the space station itself. It is important to minimize the acceleration effects on the experimental items being handled while also minimizing manipulator base reaction effects on adjacent experiments and on the space station structure. NASA Lewis Research Center has been performing research on these manipulator applications, focusing on improving the basic manipulator hardware, as well as developing improved manipulator control algorithms. By utilizing the modular manipulator concepts developed during the Laboratory Telerobotic Manipulator program, Oak Ridge National Laboratory has developed an experimental testbed system called the Microgravity Manipulator, incorporating two pitch-yaw modular positioners to provide a 4 dof experimental manipulator arm. A key feature in the design for microgravity manipulation research was the use of traction drives for torque transmission in the modular pitch-yaw differentials.

• Research Organization: Oak Ridge National Lab., TN (USA)
• Sponsoring Organization: DOE/ER; National Aeronautic and Space Administration (NASA)
• DOE Contract Number: AC05-84OR21400
• OSTI ID: 6475675
• Report Number(s): CONF-901101-46; ON: DE91002871
• Resource Relation: Conference: American Nuclear Society winter meeting, Washington, DC (USA), 11-15 Nov 1990
• Country of Publication: United States
• Language: English

Related Subjects

99 GENERAL AND MISCELLANEOUS//MATHEMATICS, COMPUTING, AND INFORMATION SCIENCE
42 ENGINEERING
MANIPULATORS
COMPUTERIZED CONTROL SYSTEMS
DESIGN
ACCELERATION
COMPUTER ARCHITECTURE
GRAVITATION
ROBOTS
SPACE VEHICLES
CONTROL SYSTEMS
EQUIPMENT
LABORATORY EQUIPMENT
MATERIALS HANDLING EQUIPMENT
REMOTE HANDLING EQUIPMENT
VEHICLES
990200* - Mathematics & Computers
420200 - Engineering- Facilities
Equipment
& Techniques