NASA Logo

NTRS

NTRS - NASA Technical Reports Server

Back to Results
Manipulator design and development for the Ranger satellite servicing vehicleThe Ranger program is a planned series of low cost telerobotics flight experiments, based on the use of Pegasus launch vehicles. As the first step towards this goal, the Space Systems Lab was developing a neutral buoyancy version of Ranger for use in design verification and operations testing. The design approach and results of the Ranger manipulator development program is related. Ranger is designed to incorporate four appendages: a pair of dexterous, seven degree of freedom manipulators for general manipulation; a six DOF grappling arm for securing the vehicle to the local work site; and a five DOF positioning manipulator for the stereo camera pair that provide feedback to the remote operator. Each of these manipulators incorporate unique approaches to satisfying design requirements. The numerical and operational requirements are given for Ranger manipulators, and the evolution is discussed of the differing design approaches based on similarities and differences in the requirements. Testing results for individual joints and manipulator assemblies are presented, followed by initial results of operational testing on satellite servicing tasks with the integrated Ranger neutral buoyancy vehicle.
Document ID
19920015829
Acquisition Source
Legacy CDMS
Document Type
Conference Paper
Authors
Howard, Russell D.
(Maryland Univ. College Park, MD, United States)
Akin, David L.
(Maryland Univ. College Park, MD, United States)
Date Acquired
September 6, 2013
Publication Date
May 1, 1992
Publication Information
Publication: NASA. Goddard Space Flight Center, The 26th Aerospace Mechanisms Symposium
Subject Category
Mechanical Engineering
Accession Number
92N25072
Funding Number(s)
CONTRACT_GRANT: NAGW-2245
Distribution Limits
Public
Copyright
Work of the US Gov. Public Use Permitted.
Document Inquiry

Available Downloads

There are no available downloads for this record.
No Preview Available