The NIST SPIDER, A robot crane

Albus, James S.; Bostelman, Roger V.; Dagalakis, Nicholas G.

doi:10.6028/jres.097.016

Cited by 120 publications

(46 citation statements)

References 2 publications

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“…Using a tendon‐driven system in the surgical robotic system has the advantages that the instruments can occupy a smaller space and have a lighter weight, and that the backlash is also minimized19–23; thereby, robot‐assisted minimally invasive surgery becomes possible. The kinematic behaviour of the master and the slave manipulators were analysed in order to implement motion control of the MicroHand A system.…”

Section: Methodsmentioning

confidence: 99%

Control design and implementation of a novel master–slave surgery robot system, MicroHand A

Sang

Wang

et al. 2011

Robotics Computer Surgery

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Section: Methodsmentioning

confidence: 99%

Control design and implementation of a novel master–slave surgery robot system, MicroHand A

Sang

Wang

et al. 2011

Robotics Computer Surgery

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“…Many in the science community are averse to bringing the samples into a habitat for such purposes, since maintaining them in a pristine, uncontaminated state is of high priority. Thus the science community requested that some sort of robotic capability for this purpose be studied [8]. One way to do this is to have Robonaut work at a robotic workbench having analytical instruments and some means to cleave fresh surfaces off the rocks, together with ATHLETE working to retrieve and perform non-dexterous manipulation, e.g.…”

Section: The Athlete Conceptmentioning

confidence: 99%

ATHLETE: Lunar cargo unloading from a high deck

Wilcox

2010

2010 IEEE Aerospace Conference

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As part of the NASA Exploration Technology Development Program, the Jet Propulsion Laboratory is developing a vehicle called ATHLETE: the All-Terrain Hex-Limbed Extra-Terrestrial Explorer. 1 2 Each vehicle is based on six wheels at the ends of six multi-degree-offreedom limbs. Because each limb has enough degrees of freedom for use as a general-purpose leg, the wheels can be locked and used as feet to walk out of excessively soft or other extreme terrain. Since the vehicle has this alternative mode of traversing through or at least out of extreme terrain, the wheels and wheel actuators can be sized for nominal terrain. There are substantial mass savings in the wheel and wheel actuators associated with designing for nominal instead of extreme terrain. These mass savings are at least comparable-to or larger-than the extra mass associated with the articulated limbs. As a result, the entire mobility system, including wheels and limbs, can be lighter than a conventional all-terrain mobility chassis. A side benefit of this approach is that each limb has sufficient degrees-offreedom to be used as a general-purpose manipulator (hence the name "limb" instead of "leg").Our prototype ATHLETE vehicles have quick-disconnect tool adapters on the limbs that allow tools to be drawn out of a "tool belt" and maneuvered by the limb. A power-take-off from the wheel actuates the tools, so that they can take advantage of the 1+ horsepower motor in each wheel to enable drilling, gripping or other power-tool functions.Architectural studies have indicated that one useful role for ATHLETE in lunar exploration is to "walk" cargo off the payload deck of a lunar lander and transport it across the lunar surface. Current architectural approaches are focused on the concept that the lunar lander descent stage will use liquid hydrogen as a propellant. This is the highestperformance chemical fuel, but it requires very large tanks. A natural geometry for the lander is to have a single throttleable rocket engine on the centerline at the bottom, and to have the propellant tanks arranged as compactly as possible around and above that engine, with nearly-straight structural load paths that carry the heavy LO 2 tanks as well as the ascent stage or cargo on a top deck. (The requirement for exactly one descent engine stems from the need to avoid symmetry planes in the exhaust plume that can entrain surface particles and loft them up into the system at hypervelocity.) This geometry is especially attractive since abort considerations drive the ascent stage to have as much 1 1 978-1-4244-3888-4

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“…1 The initial design of the RoboCrane used six cables arranged as a Stewart platform to suspend a load. After that, researchers have made several adaptations to the basic configuration and attempted to apply it in offshore cargo handling.…”

Section: Introductionmentioning

confidence: 99%

Anti-pendulation analysis of parallel wave compensation systems

Tao

2014

Proceedings of the Institution of Mechanical Engineers, Part M:

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Parallel wave compensation systems, which are essentially cable-suspended parallel mechanisms with dynamic base platforms, have potential applications in offshore cargo handling. This article investigates the anti-pendulation properties of parallel wave compensation systems. For a kinematically determined cable-suspended parallel mechanism, antipendulation is equivalent to keeping all the cables taut. Based on this consideration, the concept of anti-pendulation workspace is proposed to evaluate the anti-pendulation capability of a cable-suspended parallel mechanism. Since the anti-pendulation workspace depends on the initial interactive tensions, a method is given to calculate the optimal interactive tensions that guarantee the best anti-pendulation capability. Then, a boundary search method of workspace determination is presented, which can improve the computational efficiency comparing to the conventional discretization method. Parametric analysis shows that enlarging the geometric dimensions is useful to improve the anti-pendulation capability, which is validated by experiments of scaled cable-suspended parallel mechanisms.

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The NIST SPIDER, A robot crane

Cited by 120 publications

References 2 publications

Control design and implementation of a novel master–slave surgery robot system, MicroHand A

Control design and implementation of a novel master–slave surgery robot system, MicroHand A

ATHLETE: Lunar cargo unloading from a high deck

Anti-pendulation analysis of parallel wave compensation systems

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