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Accession number;00A0150759
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| Title;Grand Experiment of Reconfigurable Brachiating Space Robot. |
| Author;
HAYASHI RYOICHI
(Tokyo Inst. of Technol. Fac. of Eng.)
UI KYOICHI
(Tokyo Inst. of Technol. Fac. of Eng.)
MORI MAKOTO
(Tokyo Inst. of Technol. Fac. of Eng.)
MATSUNAGA SABURO
(Tokyo Inst. of Technol. Fac. of Eng.)
OKAMI YOSHIAKI
(Natl. Space Dev. Agency of Jpn.)
JINNO MAKOTO
(Toshiba Corp.)
UENO HIROSHI
(Shimizu Corp.)
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Journal Title;Proceedings of the Space Sciences and Technology Conference
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Journal Code:S0277A
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ISSN:
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VOL.43rd;NO.;PAGE.25-30(1999)
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| Figure&Table&Reference;FIG.13, TBL.4, REF.3 |
| Pub. Country;Japan |
| Language;Japanese |
| Abstract;This paper presents a summary of the system of "Reconfigurable Brachiating Space Robot". The robot consists of a center hub and three 6 degree-of-freedom arms with an end-effector and a pivot, which has a reconfigurable mechanism, for each arm. This space robot is capable of moving over the Japanese Experimental Module of the International Space Station in a brachiating manner and also of arm reconfiguration according to the various task requirements. This paper discusses the mechanisms of the arm module, the end-effector and the docking element in detail, and also focuses on the fundamental concept of controllers' system as well as the communication system of the RBR. (author abst.) |
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