USA flag logo/image

An Official Website of the United States Government

DESIGN OF A WRIST USING NEW MECHANISM TECHNOLOGY INVENTED FOR WHOLE-ARM…

Award Information

Agency:
National Aeronautics and Space Administration
Branch:
N/A
Award ID:
11926
Program Year/Program:
1991 / SBIR
Agency Tracking Number:
11926
Solicitation Year:
N/A
Solicitation Topic Code:
N/A
Solicitation Number:
N/A
Small Business Information
Barrett Technology Inc
625 Mount Auburn Street Cambridge, MA -
View profile »
Woman-Owned: No
Minority-Owned: No
HUBZone-Owned: No
 
Phase 2
Fiscal Year: 1991
Title: DESIGN OF A WRIST USING NEW MECHANISM TECHNOLOGY INVENTED FOR WHOLE-ARM MANIPULATION
Agency: NASA
Contract: N/A
Award Amount: $499,600.00
 

Abstract:

THE PROPOSED PROJECT IS TO DESIGN A MODULAR WRIST TO SUPPORT EVA ARM AND HAND GRASPING. THE WRIST DESIGN WILL BECONSISTENT WITH THE DURABILITY, LOW-BULK, AND HIGH-PERFORMANCE REQUIREMENTS OF WHOLE-ARM MANIPULATION BY ADAPTING MECHANICAL-TRANSMISSION TECHNOLOGIES NEWLY-INVENTED FOR THE WAM DEVELOPMENT AT MIT. IT IS EXPECTED THAT THE RESULTING WRIST DESIGN WILL FEATURE A CABLED DIFFERENTIAL DRIVEN BY REMOTELY LOCATED MOTORS VIA HIGH-SPEED TRANSMISSIONS. THE DIFFERENTIAL WILL ALLOW ACCESS THROUGH THE WRIST FOR HAND ACTUATION. THE WRIST WILL BE BUILT INTEGRALLY WITH THE FOREARM FOR MODULAR CONNECTION TO THE MIT WHOLE-ARM MANIPULATOR, ROBOTICS RESEARCH ARM (BOTH BEING EVALUATED BY NASA/JSC FOR EVA HELPER AND EVA RETRIEVER PROGRAMS), OR OTHER IN WHICH THE EXISTING FOREARM IS MODULAR. PHASE I CONSISTS OF THE DEVELOPMENT OF A DESIGN CONCEPT INCLUDING WRIST PERFORMANCE SPECIFICATIONS, DETERMINATION OF THE KINEMATICS, AND IDENTIFICATION (THOUGH NOT DETAILED DESIGN) OF KEY ACTUATION-COMPONENT MECHANISMS. IN PHASE II, THE REQUIRED COMPONENT MECHANISMS WILL BE DEVELOPED AND INTEGRATED INTO A WORKING WRIST PROTOTYPE. THE ANTICIPATED RESULT IS A MODULAR WRIST FOR THE INTEGRATION OF ROBOTIC ARMS AND HANDS IN SUPPORT OF NASA'S EVA ROBOTIC PROGRAMS.

Principal Investigator:

William T. Townsend
Chairman
6177873909

Business Contact:

William t. townsend
CHAIRMAN
6177873909
Small Business Information at Submission:

Barrett Technology Inc.
545 Concord Ave Cambridge, MA 02138

EIN/Tax ID:
DUNS: N/A
Number of Employees: N/A
Woman-Owned: No
Minority-Owned: No
HUBZone-Owned: No