Hinge for use in a tension stiffened and tendon actuated manipulator

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...

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Bibliographic Details
Main Authors Ganoe, George G, Mercer, Charles D, Jones, Thomas C, Corbin, Cole K, Dorsey, John T, King, Bruce D, Doggett, William R
Format Patent
LanguageEnglish
Published 05.02.2019
Subjects
AIRCRAFT
AVIATION
CHAMBERS PROVIDED WITH MANIPULATION DEVICES
COSMONAUTICS
CRANES
HAND TOOLS
HAULING
HOISTING
LIFTING
LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS,WINCHES, OR TACKLES
MANIPULATORS
PERFORMING OPERATIONS
PORTABLE POWER-DRIVEN TOOLS
TRANSPORTING
VEHICLES OR EQUIPMENT THEREFOR
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Summary: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.
Bibliography:Application Number: US201514922488