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Actuators for a space manipulatorThe robotic manipulator can be decomposed into distinct subsytems. One particular area of interest of mechanical subsystems is electromechanical actuators (or drives). A drive is defined as a motor with an appropriate transmission. An overview is given of existing, as well as state-of-the-art drive systems. The scope is limited to space applications. A design philosophy and adequate requirements are the initial steps in designing a space-qualified actuator. The focus is on the d-c motor in conjunction with several types of transmissions (harmonic, tendon, traction, and gear systems). The various transmissions will be evaluated and key performance parameters will be addressed in detail. Included in the assessment is a shuttle RMS joint and a MSFC drive of the Prototype Manipulator Arm. Compound joints are also investigated. Space imposes a set of requirements for designing a high-performance drive assembly. Its inaccessibility and cryogenic conditions warrant special considerations. Some guidelines concerning these conditions are present. The goal is to gain a better understanding in designing a space actuator.
Document ID
19890000730
Acquisition Source
Legacy CDMS
Document Type
Conference Paper
Authors
Chun, W. (Martin Marietta Aerospace Denver, CO, United States)
Brunson, P. (Martin Marietta Aerospace Denver, CO, United States)
Date Acquired
September 5, 2013
Publication Date
January 1, 1987
Publication Information
Publication: NASA, Goddard Space Flight Center, Proceedings of 1987 Goddard Conference on Space Applications of Artificial Intelligence (AI) and Robotics
Subject Category
Man/System Technology And Life Support
Accession Number
89N10101
Distribution Limits
Public
Copyright
Work of the US Gov. Public Use Permitted.

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