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test.col.pp4 Interchangeable End Effector Mech. • 3 Mechanical Interfaces – Hand Roll Drive – Fast Tool Drive – Slow Tool Drive • No power or data interface Each IEEM is approximately 2.75” Ø by 2”. Weight is 2 lbs. Space Systems Laboratory University of Maryland
test.col.pp4 Interchangeable End-Effector Mechanism (IEEM) • Objectives – Permit teleoperated and possible autonomous tool changeout – Allow a rigid connection of Hand Roll DOF to tool structure – Allow a connection of two, Tool Drive actuators – Avoid introducing extra actuators or sensors – Minimize risk of tool detaching from DX Manipulator – Minimize risk of tool detaching from Tool Post – Package mechanism compactly » Minimize Tool/Wrist-center distance » Maintain clear Wrist Camera field of view » Maintain center shaft clear for boresight laser • Design Consequences: 5-State Mechanism – IEEM locked to Tool Post, back-driving blocked – DX Manipulator “Soft-Docked” to IEEM, IEEM locked to Tool Post – IEEM locked to both DX Manipulator and Tool Post – IEEM locked to DX Manipulator, “Soft-Docked” with Tool Post – IEEM locked to DX Manipulator, free from Tool Post, back-driving blocked 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 and 28: test.col.pp4 Dexterous Arm Paramete
Page 29 and 30: test.col.pp4 Design Loads (continue
Page 31: test.col.pp4 Singularity Avoidance
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
Page 79 and 80: 45 35 25 15 5 -5 test.col.pp4 Erron
Page 81 and 82: 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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