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test.col.pp4 States 3, 4: Manipulator Rotates 60° Three Manipulator flanges engage IEEM flanges 60° • State 3: Three flanges on Manipulator engage flanges on IEEM at beginning of rotation, locking Manipulator axially to IEEM • State 4: At end of rotation, mushroom end of Tool Post is free to disengage from IEEM Space Systems Laboratory University of Maryland
test.col.pp4 State 5: Disengage Tool Post Blocking Latch (rotated) • Outward radial motion of Tool Post rotates Blocking Latch, preventing reverse rotation of Slotted Ring • When Tool Post is free, spring plunger in detent prevents back-rotation of Blocking Latch 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 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: test.col.pp4 State 2: Manipulator E
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
Page 83 and 84: test.col.pp4 60 50 40 30 20 10 0 No
Page 85 and 86: test.col.pp4 Overall Ranking of Eff
Page 87 and 88: test.col.pp4 Conclusions (1 of 2)
Page 89 and 90:
Future Research • Reevaluate ster
Page 91 and 92:
test.col.pp4 How the Robot Interact
Page 93 and 94:
Engineering Arm Performing HST ECU
Page 95 and 96:
test.col.pp4 Impact of Ranger-class
Page 97 and 98:
test.col.pp4 Results of Robot Dexte
Page 99 and 100:
test.col.pp4 HERCULES (Single Arm;
Page 101 and 102:
HERCULES (Dual Arm; EVA Operations)
Page 103 and 104:
test.col.pp4 Estimates of Relative
Page 105 and 106:
test.col.pp4 HERCULES Proof-of-Conc
Page 107 and 108:
test.col.pp4 SM4R(obotic) Concept O
Page 109 and 110:
test.col.pp4 Dexterous Robotics - R
Page 111 and 112:
test.col.pp4 Servicing Option 2 •
Page 113 and 114:
test.col.pp4 Modifications to Exist
Page 115 and 116:
test.col.pp4 Launch Vehicle Conside
Page 117 and 118:
test.col.pp4 Assumptions: • 300 m
Page 119 and 120:
test.col.pp4 Why SM4R? • No other
Page 121 and 122:
test.col.pp4 Ranger on SMV Space Sy
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PDF - University of Maryland

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