Manipulation hardware for microgravity research

Conference · Sun Dec 31 23:00:00 EST 1989

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; NASA
• DOE Contract Number: AC05-84OR21400
• OSTI ID: 6475675
• Report Number(s): CONF-901101-46; ON: DE91002871
• Country of Publication: United States
• Language: English

Related Subjects

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