Development of an EVA end-effector, grapple fixtures and tools for the satellite mounted robot system

Author

Oda, Masaomi ; Nishida, Masanori ; Nishida, Shuichi

Author_Institution

Nat. Space Dev. Agency, Tokyo, Japan

Volume

3

fYear

1996

fDate

4-8 Nov 1996

Firstpage

1536

Abstract

There are many tasks to be performed by space robots. However a single end-effector can not meet the individual task´s requirements. NASDA is to launch an experimental robot satellite named ETS-VII. The satellite has a 6-DOF robot-arm to handle many experimental payloads. Payloads vary in mass, shape and size. Interfaces between payloads and the end-effector are standardized using grapple fixtures. Additional tools with grapple fixtures are also developed to meet specific task requirements. This paper shows current status of the space-robot´s EVA end-effector and development result of the ETS-VII´s end-effector, grapple fixtures and tools

Keywords

aerospace control; artificial satellites; manipulators; mobile robots; 6-DOF robot-arm; ETS-VII; EVA end-effector; NASDA; Space robots; grapple fixtures; satellite mounted robot system; tools; Fixtures; Logistics; Manipulators; Orbital robotics; Payloads; Robot kinematics; Satellites; Space shuttles; Space stations; Space technology;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems '96, IROS 96, Proceedings of the 1996 IEEE/RSJ International Conference on

Conference_Location

Osaka

Print_ISBN

0-7803-3213-X

Type

conf

DOI

10.1109/IROS.1996.569017

Filename

569017