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Title: Manipulation hardware for microgravity research

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 usemore » of traction drives for torque transmission in the modular pitch-yaw differentials.« less
Authors:
; ; ;  [1] ;  [2] ;  [3]
  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))
Publication Date:
OSTI Identifier:
6475675
Report Number(s):
CONF-901101-46
ON: DE91002871
DOE Contract Number:
AC05-84OR21400
Resource Type:
Conference
Resource Relation:
Conference: American Nuclear Society winter meeting, Washington, DC (USA), 11-15 Nov 1990
Research Org:
Oak Ridge National Lab., TN (USA)
Sponsoring Org:
DOE/ER; NASA
Country of Publication:
United States
Language:
English
Subject:
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