Development of a four-fingered dexterous robot end effector for Space operations

Author

Akin, David L. ; Carignan, Craig R. ; Foster, Anthony W.

Author_Institution

Space Syst. Lab., Maryland Univ., College Park, MD, USA

Volume

3

fYear

2002

fDate

2002

Firstpage

2302

Lastpage

2308

Abstract

This paper describes the development of a tendon-driven, multi-fingered dexterous robot hand for space operations. This hand can achieve cylindrical grasps while producing a holding strength necessary for grasping several crew aids, tools (CATs) and interfaces. The design is based on grasping requirements for 242 CATs and interfaces found in the extravehicular activity (EVA) Tools and Equipment Reference Book. The results of this study show that over 50% of the required grasps are cylindrical, and that it may be possible for a three-fingered hand to achieve over 90% of these grasps. Further tests are implemented to show that tendon tensions agree with the predicted kinematic model

Keywords

aerospace robotics; dexterous manipulators; CAT; EVA; Space crew aids; Space operations; Space tools; cylindrical grasps; extravehicular activity; four-fingered dexterous robot end effector; interfaces; kinematic model; tendon-driven multifingered dexterous robot hand; Anthropomorphism; Books; Cats; Databases; End effectors; Grasping; Humans; Laboratories; Orbital robotics; Robots;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 2002. Proceedings. ICRA '02. IEEE International Conference on

Conference_Location

Washington, DC

Print_ISBN

0-7803-7272-7

Type

conf

DOI

10.1109/ROBOT.2002.1013575

Filename

1013575