Development of a Tendon-Actuated Lightweight In-Space MANipulator (TALISMAN)An invention of a new and novel space robotic manipulator is described. By using a combination of lightweight truss links, a novel hinge joint, tendon-articulation and passive tension stiffening, this new robotic manipulator architecture achieves compact packaging, high strength, stiffness and dexterity while being very lightweight compared to conventional manipulators. The manipulator is also very modular; easy to scale for different reach, load and stiffness requirements; enabling customization for a diverse set of applications. Novel features of the new manipulator concept are described as well as some of the approaches to implement these design features. Two diverse applications are presented to show the versatility of the concept. First generation prototype hardware was designed, manufactured and has been assembled into a working manipulator that is being used to refine and extend development efforts.
Document ID
20140006390
Acquisition Source
Langley Research Center
Document Type
Conference Paper
Authors
Doggett, William R. (NASA Langley Research Center Hampton, VA, United States)
Dorsey, John T. (NASA Langley Research Center Hampton, VA, United States)
Jones, Thomas C. (NASA Langley Research Center Hampton, VA, United States)
King, Bruce (Northrop Grumman Corp. Hampton, VA, United States)
IDRelationTitle20150004076See AlsoDevelopment of a Tendon-Actuated Lightweight In-Space MANipulator (TALISMAN)20150004076See AlsoDevelopment of a Tendon-Actuated Lightweight In-Space MANipulator (TALISMAN)