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  • The Merlin Space Weather Monitor and its Planned Flight on the GSTBv2/A Galileo Demonstrator Satellite

    Paper number

    IAC-04-U.6.-IAA.4.9.3.04

    Author

    Dr. Keith Ryden, Qinetiq Ltd., United Kingdom

    Year

    2004

    Abstract

    Since size of space development and utilization is growing year by year, the demands of building and maintaining in-orbit facilities such as the International Space Station and the moon / planetary based facilities such as the International Moon Base will surely increase. In building and maintaining these space assets, robots will surely play some important role. They are expected to assistant astronauts’ work or even do works instead of astronauts.

    Some typical tasks assigned to the astronauts in the conduct of ISS include inspection of the surface of the space station and conveyance of equipments such as repair of the space station or EVA tools. Therefore the hand of robots that work with astronaut should have following functions.

    1. Robot can grasp and handle equipments which are designed to be used by astronaut.
    2. Robot hand should be replaced depending on tasks, for example replaced from a dexterous work hand to a heavy duty hand.

    Robots which have above functions can be called an astronaut support robot. The end effectors of space robot manipulators have been used in the space shuttle and ISS, which are so called crane robot. They are designed to handle massive payloads and they need special GF (Grapple Fixture) on the payload to hold, so they are not appropriate to do dexterous work. Robotic hand for astronaut support robot should be dexterous, small, human-like hands.

    We are developing a robotic hand called “Dexterous Hand” (DH), which is designed to satisfy the requirements listed above by applying a small high power linear actuator and the simple design. The high power linear actuator is developed for the hand and the control electronics that is small enough to install inside the hand is also developing. Rotary actuators are used for robot usually but linear actuator can produce higher power than rotary actuators. The simple structure of the hand also helps to realize high grasping power (more than 200N) and simplicity of replacement. The hand is consisted from 4 fingers and each finger has only 1 actuator. The simulations of grasping objects and the experiment of grasping handrail have done with the test bed. A improved model is developing now and under evaluation test.

    Abstract document

    IAC-04-U.6.-IAA.4.9.3.04.pdf

    Manuscript document

    IAC-04-U.6.-IAA.4.9.3.04.pdf (🔒 authorized access only).

    To get the manuscript, please contact IAF Secretariat.