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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
20150004076
Acquisition Source
Goddard Space Flight 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)
Date Acquired
April 2, 2015
Publication Date
May 1, 2014
Publication Information
Publication: The 42nd Aerospace Mechanism Symposium
Subject Category
Mechanical Engineering
Distribution Limits
Public
Copyright
Public Use Permitted.

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IDRelationTitle20140006390See AlsoDevelopment of a Tendon-Actuated Lightweight In-Space MANipulator (TALISMAN)20140008875Collected WorksThe 42nd Aerospace Mechanism Symposium
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