DESIGN OF AN INTEGRATED ARM/WRIST/HAND SYSTEM FOR WHOLE-ARM MANIPULATION

Award Information
Agency: National Aeronautics and Space Administration
Branch: N/A
Contract: N/A
Agency Tracking Number: 16949
Amount: $499,971.00
Phase: Phase II
Program: SBIR
Awards Year: 1992
Solicitation Year: N/A
Solicitation Topic Code: N/A
Solicitation Number: N/A
Small Business Information
Barrett Technology Inc.
545 Concord Ave, Cambridge, MA, 02138
DUNS: N/A
HUBZone Owned: N
Woman Owned: N
Socially and Economically Disadvantaged: N
Principal Investigator
 () -
Business Contact
Phone: () -
Research Institution
N/A
Abstract
THIS PROJECT WILL DESIGN A COMPLETE, INTEGRATED ROBOTIC ARM/WRIST/HAND SYSTEM. THE COMPONENTS OF THIS DESIGN WILL BE PROPERLY MATCHED TO MAXIMIZE THE OVERALL SYSTEM PERFORMANCE. THE INTEGRATED DESIGN WILL BE CONSISTENT WITH THE DURABILITY, LOW-BULK, AND HIGH-PERFORMANCE REQUIREMENTS OF WHOLE-ARM MANIPULATION (WAM) BY ADAPTING NEWLY INVENTED MECHANICAL-TRANSMISSION TECHNOLOGIES FOR WHOLE-ARM MANIPULATION. THE RESULTING INTEGRATED DESIGN WILL FEATURE A SLIGHTLY MODIFIED VERSION OF THE WAM ARM, A THREE-DEGREE-OF-FREEDOM WRIST WITH A CABLED DIFFERENTIAL, AND A SIMPLE, LIGHTWEIGHT HAND. AS PART OF THE PHASE II PROJECT, A LIGHTWEIGHT PROTOTYPE WILL BE BUILT AND INTEGRATED WITH A WAM ARM AND WRIST FOR TESTING AND FOR PERFORMANCE EVALUATION. THIS PROJECT WILL DESIGN A COMPLETE, INTEGRATED ROBOTIC ARM/WRIST/HAND SYSTEM. THE COMPONENTS OF THIS DESIGN WILL BE PROPERLY MATCHED TO MAXIMIZE THE OVERALL SYSTEM PERFORMANCE. THE INTEGRATED DESIGN WILL BE CONSISTENT WITH THE DURABILITY, LOW-BULK, AND HIGH-PERFORMANCE REQUIREMENTS OF WHOLE-ARM MANIPULATION (WAM) BY ADAPTING NEWLY INVENTED MECHANICAL-TRANSMISSION TECHNOLOGIES FOR WHOLE-ARM MANIPULATION. THE RESULTING INTEGRATED DESIGN WILL FEATURE A SLIGHTLY MODIFIED VERSION OF THE WAM ARM, A THREE-DEGREE-OF-FREEDOM WRIST WITH A CABLED DIFFERENTIAL, AND A SIMPLE, LIGHTWEIGHT HAND. AS PART OF THE PHASE II PROJECT, A LIGHTWEIGHT PROTOTYPE WILL BE BUILT AND INTEGRATED WITH A WAM ARM AND WRIST FOR TESTING AND FOR PERFORMANCE EVALUATION.

* information listed above is at the time of submission.

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