Title :
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
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;
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
DOI :
10.1109/IROS.1996.569017