Traction drive seven degrees-of-freedom telerobot arm: A concept for manipulation in space

Conference · Wed Dec 31 23:00:00 EST 1986

OSTI ID:6720090

Martin, H L; Kuban, D P

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.

• Research Organization: TeleRobotics International, Inc., Knoxville, TN (USA); Oak Ridge National Lab., TN (USA)
• DOE Contract Number: AC05-84OR21400
• OSTI ID: 6720090
• Report Number(s): CONF-870301-9; ON: DE87004066
• Country of Publication: United States
• Language: English

Related Subjects

42 ENGINEERING
420200* -- Engineering-- Facilities
Equipment
& Techniques
CONTROL SYSTEMS
DEGREES OF FREEDOM
DESIGN
EQUIPMENT
JOINTS
LABORATORY EQUIPMENT
MACHINE PARTS
MANIPULATORS
MATERIALS HANDLING EQUIPMENT
MECHANICAL TRANSMISSIONS
REMOTE HANDLING EQUIPMENT
ROBOTS