Hinge for Use in a Tension Stiffened and Tendon Actuated Manipulator

Doggett, William R [Inventor]Dorsey, John T [Inventor]Ganoe, George G [Inventor]King, Bruce D [Inventor]Jones, Thomas C [Inventor]Mercer, Charles D [Inventor]Corbin, Cole K [Inventor]

关键词: HINGES;    TENDONS;    MANIPULATORS;    ROBOTICS;    GRAVITATIONAL FIELDS;    PATENTS;    PAYLOADS;    CONNECTORS;   

RP-ID  :  US-Patent-10,195,749, US-Patent-Appl-SN-14/922,488

学科分类：人工智能

美国|英语

来源: NASA Technical Reports Server

【 摘 要 】

A tension stiffened and tendon actuated manipulator is provided performing robotic-like movements when acquiring a payload. The manipulator design can be adapted for use in-space, lunar or other planetary installations as it is readily configurable for acquiring and precisely manipulating a payload in both a zero-g environment and in an environment with a gravity field. The manipulator includes a plurality of link arms, a hinge connecting adjacent link arms together to allow the adjacent link arms to rotate relative to each other and a cable actuation and tensioning system provided between adjacent link arms. The cable actuation and tensioning system includes a spreader arm and a plurality of driven and non-driven elements attached to the link arms and the spreader arm. At least one cable is routed around the driven and non-driven elements for actuating the hinge.