Tension stiffened and tendon actuated manipulator

US9168659B2 · kind B2 · utility

Assignee

• The United States of America as represented by the Administrator of the National Aeronautics and Space Administration · US

Inventors

• William R. Doggett · Poquoson, US
• John T. Dorsey · Hampton, US
• George G. Ganoe · Yorktown, US
• Bruce D. King · Glen Carbon, US
• Thomas C. Jones · Columbia, US
• Charles D. Mercer · Chesapeake, US
• Cole K. Corbin · Williamsburg, US

Key dates

• Filing date: Apr 17, 2013
• Grant date: Oct 27, 2015
• Expiry date: Dec 21, 2033

Classification

• Technology area (CPC Y): Emerging Cross-Sectional Technologies
• CPC primary: Y10T74/20329
• WIPO field: Handling
• WIPO sector: Mechanical engineering

Abstract

A tension stiffened and tendon actuated manipulator is provided performing robotic-like movements when acquiring a payload. The manipulator design can be adapted for use in-space, lunar or other planetary installations as it is readily configurable for acquiring and precisely manipulating a payload in both a zero-g environment and in an environment with a gravity field. The manipulator includes a plurality of link arms, a hinge connecting adjacent link arms together to allow the adjacent link arms to rotate relative to each other and a cable actuation and tensioning system provided between adjacent link arms. The cable actuation and tensioning system includes a spreader arm and a plurality of driven and non-driven elements attached to the link arms and the spreader arm. At least one cable is routed around the driven and non-driven elements for actuating the hinge.