| タイトル | Tendon-Actuated Lightweight In-Space MANipulator (TALISMAN) |
| 本文（外部サイト） | http://hdl.handle.net/2060/20160007440 |
| 著者（英） | Dorsey, John T.; Komendera, Erik E.; Doggett, William R. |
| 発行日 | 2015-05-26 |
| 言語 | eng |
| 内容記述 | The robotic architecture of State-of-the-Art (SOA) space manipulators, represented by the Shuttle Remote Manipulator System (SRMS), inherently limits their capabilities to extend reach, reduce mass, apply force and package efficiently. TALISMAN uses a new and innovative robotic architecture that incorporates a combination of lightweight truss links, a novel hinge joint, tendon-articulation and passive tension stiffening to achieve revolutionary performance. A TALISMAN with performance similar to the SRMS has 1/10th of its mass and packages in 1/7th of its volume. The TALISMAN architecture allows its reach to be scaled over a large range; from 10 to over 300 meters. In addition, the dexterity (number of degrees-of-freedom) can be easily adjusted without significantly impacting manipulator mass because the joints are very lightweight. |
| NASA分類 | Cybernetics, Artificial Intelligence and Robotics |
| レポートNO | NF1676L-21448 |
| 権利 | No Copyright |
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