02-02-2012, 11:54 AM
Robonaut
[attachment=17041]
Introduction:
The requirements for extra-vehicular activity (EVA) on-board the International Space Station (ISS) are expected to be considerable. These maintenance and construction activities are expensive and hazardous. Astronauts must prepare extensively before they may leave the relative safety of the space station, including pre-breathing at space suit air pressure for up to 4 hours. Once outside, the crew person must be extremely cautious to prevent damage to the suit. Certain pieces of the Space Station Alpha have been designed to be serviced by robotic systems. The Canadian Space Agency’s Special Purpose Dexterous Manipulator (SPDM) was developed for this purpose. To be serviceable by the SPDM, worksites have been designed to have different approach corridors than EVA and specialized interfaces.
Robonaut System Overview:
The focus of the Robonaut team has been in the design and construction a dexterous upper extremity. However, Robonaut has recently transitioned from a single hand and arm with a fixed shoulder to a dual limbed upper body with an articulating three degree-of-freedom (DOF) waist. This results in a total of 43 DOF dexterous robot (figure 1). While working during EVA, crew members typically place both legs into a portable foot restraint. In its space configuration, Robonaut uses the same interface with a single seven DOF leg. The end effector’s of this leg uses the same interface as the crew’s foot restraints and plugs into sockets around Space Station. Having a leg provides Robonaut with the ability to anchor itself at worksites and provides a great amount of body mobility once anchored.
Figure 2 shows a representation of Robonaut in its space configuration. Beyond having the correct anatomy to work with EVA equipment, the Robonaut system is designed with space operations in mind. During the design phase, the ability to work in space was considered for nearly every aspect, including materials selection, thermal endurance, lubricants, avionics, and computer selection.
Hands:
Robonaut’s hands set it apart from any previous space manipulator system. These hands can fit into all the same places currently designed for an astronaut’s gloved hand. A key feature of the hand is its palm degree of freedom that allows Robonaut to cup a tool and line up its long axis with the roll degree of freedom of the forearm, thereby, permitting tool use in tight spaces with minimum arm motion.
Brainstem:
The Robonaut control system design philosophy is inspired by the human brain anatomy. The human brain embeds some functions, such as gaits, reactive reflexes and sensing, at a very low level, in the spinal cord or nerves. Higher functions, such as cognition and planning take place in other parts of the brain.
[attachment=17041]
Introduction:
The requirements for extra-vehicular activity (EVA) on-board the International Space Station (ISS) are expected to be considerable. These maintenance and construction activities are expensive and hazardous. Astronauts must prepare extensively before they may leave the relative safety of the space station, including pre-breathing at space suit air pressure for up to 4 hours. Once outside, the crew person must be extremely cautious to prevent damage to the suit. Certain pieces of the Space Station Alpha have been designed to be serviced by robotic systems. The Canadian Space Agency’s Special Purpose Dexterous Manipulator (SPDM) was developed for this purpose. To be serviceable by the SPDM, worksites have been designed to have different approach corridors than EVA and specialized interfaces.
Robonaut System Overview:
The focus of the Robonaut team has been in the design and construction a dexterous upper extremity. However, Robonaut has recently transitioned from a single hand and arm with a fixed shoulder to a dual limbed upper body with an articulating three degree-of-freedom (DOF) waist. This results in a total of 43 DOF dexterous robot (figure 1). While working during EVA, crew members typically place both legs into a portable foot restraint. In its space configuration, Robonaut uses the same interface with a single seven DOF leg. The end effector’s of this leg uses the same interface as the crew’s foot restraints and plugs into sockets around Space Station. Having a leg provides Robonaut with the ability to anchor itself at worksites and provides a great amount of body mobility once anchored.
Figure 2 shows a representation of Robonaut in its space configuration. Beyond having the correct anatomy to work with EVA equipment, the Robonaut system is designed with space operations in mind. During the design phase, the ability to work in space was considered for nearly every aspect, including materials selection, thermal endurance, lubricants, avionics, and computer selection.
Hands:
Robonaut’s hands set it apart from any previous space manipulator system. These hands can fit into all the same places currently designed for an astronaut’s gloved hand. A key feature of the hand is its palm degree of freedom that allows Robonaut to cup a tool and line up its long axis with the roll degree of freedom of the forearm, thereby, permitting tool use in tight spaces with minimum arm motion.
Brainstem:
The Robonaut control system design philosophy is inspired by the human brain anatomy. The human brain embeds some functions, such as gaits, reactive reflexes and sensing, at a very low level, in the spinal cord or nerves. Higher functions, such as cognition and planning take place in other parts of the brain.
