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Development of a large space robot - A multi-segment approach. IA concept of multisegment robot (of a class of large space cranes) is developed for use in space-based construction operations. The robot consists of a collection of segments, which are pinned together to form a snakelike configuration, with a single degree of freedom representing rotation being retained at each pinned connection and with reaction flywheels suspended within each segment for the control necessary to position each body segment. Algorithms are developed for positioning this serpentine robot to a prescribed location and orientation. A multibody dynamics simulation is used to investigate the behavior and interactions of the robot, demonstrating its viability.
Document ID
Acquisition Source
Legacy CDMS
Document Type
Conference Paper
Spanos, P. D.
(Rice Univ. Houston, TX, United States)
Berka, Reginald B.
(NASA Johnson Space Center Houston, TX, United States)
Date Acquired
August 16, 2013
Publication Date
January 1, 1993
Publication Information
Publication: In: AIAA(ASME)ASCE/AHS/ASC Structures, Structural Dynamics, and Materials Conference, 34th and AIAA/ASME Adaptive Structures Forum, La Jolla, CA, Apr. 19-22, 1993, Technical Papers. Pt. 3 (A93-33876 1
Publisher: American Institute of Aeronautics and Astronautics
Subject Category
Man/System Technology And Life Support
Report/Patent Number
AIAA PAPER 93-1463
Accession Number
Distribution Limits

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