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test.col.pp4 End Effector Design Drivers • Structural / Mechanical Requirements – Grasp must be non-back-driveable – Factor of safety of 1.4 (Test) or 2.0 ( Analysis) – Withstand 300 lbs Force Along All Axes – Withstand 200 ft-lbs Moment About All Axes – Survive 6.75J Impact – Withstand Launch & Landing Loads – Meet NASA EVA contact spec – Meet RTSX Thermal Range • Operational – Visual Turn Indicators – Tool Color Should Contrast With Task Equipment (Not Black) – Visual Access for Grasp Verification – Neutral Buoyancy Compatible Space Systems Laboratory University of Maryland
test.col.pp4 Bare Bolt Drive RTSX End Effectors Right Angle Drive Microconical End Effector Tether Loop Gripper EVA Handrail SPAR Gripper Gripper 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 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: test.col.pp4 Tool Drives • Tool D
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
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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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