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test.col.pp4 Design Loads • Nominal Operations; Structural Load Path – Fx, Fy, Fz: 300 lbf – Mx, My, Mz: 200 lb-ft • Actuator Input-side Loads (pure moment) – Shoulder Actuators: 650 oz-in – Elbow, Wrist Roll Actuators: 400 oz-in – Wrist Pitch, Yaw, Hand Roll, Slow Tool Actuators: 230 oz-in – Fast Tool Actuator: 240 oz-in • Actuator Output-side Loads (pure moment) – Shoulder Actuators: 200 lb-ft – Elbow Actuators: 120 lb-ft – Wrist Roll Actuator: 70 lb-ft – Wrist Pitch, Yaw, Hand Roll, Slow Tool Actuators: 50 lb-ft Space Systems Laboratory University of Maryland
test.col.pp4 Design Loads (continued) • Collision Loads; External Housings – Maximal collision: 10 Joules (equivalent to 20 kg @ 1 meter/sec) – Method: assume kinetic energy converted to strain energy; find stresses for concentrated loading of component that produces the same strain energy • Launch and Landing Loads – Assume Stowed Configuration – Accelerations: – X: ± 7.9 G – Y: ± 4.9 G – Z: + 8.3 G, - 6.3 G – Subject to refinement with coupled-loads analysis • Consider additional loads in some cases: – Thermal ambient operational limits: -60° to +100° C – Assembly Space Systems Laboratory University of Maryland
Page 1 and 2: test.col.pp4 University of Maryland
Page 3 and 4: test.col.pp4 ARAMIS Telerobotics St
Page 5 and 6: test.col.pp4 Beam Assembly Teleoper
Page 7 and 8: test.col.pp4 Ranger Telerobotic Fli
Page 9 and 10: test.col.pp4 Ranger Neutral Buoyanc
Page 11 and 12: test.col.pp4 SSL Relevant Experienc
Page 13 and 14: test.col.pp4 Robotic HST Servicing
Page 15 and 16: test.col.pp4 Dexterous Arm Design O
Page 17 and 18: test.col.pp4 Dexterous Manip System
Page 19 and 20: test.col.pp4 Wrist Roll Drive (aft)
Page 21 and 22: test.col.pp4 φ (deg) 1080 720 (deg
Page 23 and 24: test.col.pp4 Inner Wrist (Exploded
Page 25 and 26: Bearing Installed Directly in Housi
Page 27: test.col.pp4 Dexterous Arm Paramete
Page 31 and 32: test.col.pp4 Singularity Avoidance
Page 33 and 34: test.col.pp4 Interchangeable End-Ef
Page 35 and 36: test.col.pp4 IEEM Exploded View Spa
Page 37 and 38: test.col.pp4 State 2: Manipulator E
Page 39 and 40: test.col.pp4 State 5: Disengage Too
Page 41 and 42: test.col.pp4 Schematic of IEEM Bear
Page 43 and 44: test.col.pp4 Tool Drives • Tool D
Page 45 and 46: test.col.pp4 Bare Bolt Drive RTSX E
Page 47 and 48: test.col.pp4 Microconical End Effec
Page 49 and 50: test.col.pp4 • Interfaces APFR Pa
Page 51 and 52: test.col.pp4 Task Interfaces - APFR
Page 53 and 54: Design Requirements • Control ele
Page 55 and 56: Inner Housing Absolute Encoder test
Page 57 and 58: test.col.pp4 Components: Harmonic D
Page 59 and 60: test.col.pp4 Components: Incrementa
Page 61 and 62: test.col.pp4 Components: Absolute E
Page 63 and 64: test.col.pp4 Components: V-Clamp 40
Page 65 and 66: test.col.pp4 PXL Underwater Operati
Page 67 and 68: test.col.pp4 Ground Control Station
Page 69 and 70: test.col.pp4 Flight Control Station
Page 71 and 72: test.col.pp4 • Power GCS Services
Page 73 and 74: test.col.pp4 GCS Components: Ops Co
Page 75 and 76: test.col.pp4 Predictive and Command
Page 77 and 78: test.col.pp4 Commanded and Predicti
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45 35 25 15 5 -5 test.col.pp4 Erron
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test.col.pp4 Summary Control Scheme
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test.col.pp4 60 50 40 30 20 10 0 No
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test.col.pp4 Overall Ranking of Eff
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test.col.pp4 Conclusions (1 of 2)
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Future Research • Reevaluate ster
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test.col.pp4 How the Robot Interact
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Engineering Arm Performing HST ECU
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test.col.pp4 Impact of Ranger-class
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test.col.pp4 Results of Robot Dexte
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test.col.pp4 HERCULES (Single Arm;
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HERCULES (Dual Arm; EVA Operations)
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test.col.pp4 Estimates of Relative
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test.col.pp4 HERCULES Proof-of-Conc
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test.col.pp4 SM4R(obotic) Concept O
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test.col.pp4 Dexterous Robotics - R
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test.col.pp4 Servicing Option 2 •
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test.col.pp4 Modifications to Exist
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test.col.pp4 Launch Vehicle Conside
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test.col.pp4 Assumptions: • 300 m
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test.col.pp4 Why SM4R? • No other
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test.col.pp4 Ranger on SMV Space Sy
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