USA flag logo/image

An Official Website of the United States Government

Singularity-Free, Spherical, Double Pointing System Containing Two Actuators

Award Information

National Aeronautics and Space Administration
Award ID:
Program Year/Program:
1994 / SBIR
Agency Tracking Number:
Solicitation Year:
Solicitation Topic Code:
Solicitation Number:
Small Business Information
Yoder Software, Inc.
715 W. Michigan Ave. Urbana, IL 61801-0484
View profile »
Woman-Owned: No
Minority-Owned: No
HUBZone-Owned: No
Phase 1
Fiscal Year: 1994
Title: Singularity-Free, Spherical, Double Pointing System Containing Two Actuators
Agency: NASA
Contract: N/A
Award Amount: $46,869.00


The proposed innovation is a two-actuator, singularity-free double pointing system which has a spherical geometry. It has potentially widespread application as the basis of a new generation of singularity-free manipulator wrists which will not generate coupled arm/wrist singularities. It will also serve as the shoulder pointing subsystem for singularity-free manipulator arms, such as the spherical arm-subassembly. These new manipulators will meet the need addressed in the subtopic by minimizing interaction forces caused by singularities and by increasing the reliability of current singularity-free systems by reducing the required number of actuators in their design. The proposed effort aims to complete a conceptual design for a two-actuator, spherical, singularity-free double pointing system, construct an experimental mock-up of this design, and develop the kinematic equations for this system when it is applied as the pointing subsystems for three types of manipulator geometries. Both NASA and industry will benefit from having such systems, which will provide greater dexterity than present industrial systems, effectively eliminate all internal workspace singularities, and increase the reliability of singularity-free systems.

Principal Investigator:

Steven J. Remis

Business Contact:

Small Business Information at Submission:

Yoder Software, Inc.
3100 Benham Avenue Elkhart, IN 46517

Number of Employees: N/A
Woman-Owned: No
Minority-Owned: No
HUBZone-Owned: No