Robots for manipulation in a micro-gravity environmentThis paper is concerned with the development of control strategies and mechanisms for robots operating in the micro-gravity environment of Space Station. These robots must be capable of conducting experiments and manufacturing processes without disturbing the micro-gravity environment through base reactions/motions. Approaches discussed for controlling the robot base reactions/motions include strategies making use of manipulators with redundant degrees of freedon, actuators at the robot base, and a redundant (balancing) arm. Two degree-of-freedom, traction-drive joints are discussed as well as the conceptual design for a traction-driven manipulator.
Document ID
19890024311
Acquisition Source
Legacy CDMS
Document Type
Conference Paper
Authors
Quinn, R. D. (Case Western Reserve University Cleveland, OH, United States)
Lawrence, C. (NASA Lewis Research Center Cleveland, OH, United States)