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

Award Information
Agency:
National Aeronautics and Space Administration
Branch
n/a
Amount:
$499,971.00
Award Year:
1992
Program:
SBIR
Phase:
Phase II
Contract:
n/a
Award Id:
16949
Agency Tracking Number:
16949
Solicitation Year:
n/a
Solicitation Topic Code:
n/a
Solicitation Number:
n/a
Small Business Information
545 Concord Ave, Cambridge, MA, 02138
Hubzone Owned:
N
Minority Owned:
N
Woman Owned:
N
Duns:
n/a
Principal Investigator:
() -
Business Contact:
() -
Research Institute:
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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