Hyper redundant modular manipulator arm

Author

Kimura, Shinichi ; Tsuchiya, Shigeru ; Takegai, Tomoki ; Iizuka, Naoko ; Moritani, Kotaro ; Nishida, Shinichiro ; Kawashima, Naohiro ; Okamura, Noritsugu Kawashima Ryo

Author_Institution

Commun. Res. Lab., Tokyo, Japan

Volume

4

fYear

2000

fDate

2000

Firstpage

2467

Abstract

We introduce the hyper-redundant modular manipulator arm (HRMA) ground test system, which is the ground experimental model for the technology of orbital maintenance system (OMS). OMS consists of three steps: 1) inspecting the satellite, 2) re-orbiting the useless satellite, and 3) simply repairing satellites in space. This HRMA is the arm for inspecting of satellites, the first step of OMS. HRMA model consists of: modules of the control processor, actuators for 2-degree of freedom, and simply a joint mechanism which can be connected and disconnected by simple robotic motion and also resist inertia during space operation. In this paper, we introduce the HRMA system, its basic specifications, and the future plan

Keywords

aerospace robotics; inspection; manipulator dynamics; redundant manipulators; HRMA; hyper-redundant arm; joint mechanism; manipulator arm; modular joint; orbital maintenance system; remote inspection; space robot; Control systems; Costs; Electronic mail; Inspection; Manipulators; Orbital robotics; Satellites; Space shuttles; Space technology; System testing;

fLanguage

English

Publisher

ieee

Conference_Titel

Industrial Electronics Society, 2000. IECON 2000. 26th Annual Confjerence of the IEEE

Conference_Location

Nagoya

Print_ISBN

0-7803-6456-2

Type

conf

DOI

10.1109/IECON.2000.972384

Filename

972384