Tension stiffened and tendon actuated manipulator

US10569415B2 · kind B2 · utility

Assignee

• United States of America as represented by the Administrator of NASA · US

Inventors

• William R. Doggett · Poquoson, US
• John T. Dorsey · Hampton, US
• Thomas C. Jones · Columbia, US
• Bruce D. King · Glen Carbon, US

Key dates

• Filing date: Aug 31, 2016
• Grant date: Feb 25, 2020
• Expiry date: Apr 2, 2038

Classification

• Technology area (CPC B): Performing Operations; Transporting
• CPC primary: B25J18/00
• WIPO field: Handling
• WIPO sector: Mechanical engineering

Abstract

A manipulator includes first and second link arms which are connected together by a hinge. A cable actuation and tensioning system is provided between the link arms and includes a spreader arm, a driven element attached to each link arm and a cable engaged with the respective driven element and attached to the spreader arm. At least one of the arms, or all of the arms, can telescope to shorten or lengthen the arm(s) by movement of the system. The spreader arm may also be configured to slide relative to the first and second link arms to change the position of the spreader arm relative to the first and second link arms.