Mobile robot system for ground servicing operations on the space shuttle

Kevin J. Dowling; Richard Bennett; Michael K. Blackwell; Todd Graham; Simon Gatrall; Robert V. O'Toole III; Hagen Schempf

doi:10.1117/12.131707

1 November 1992 Mobile robot system for ground servicing operations on the space shuttle

Kevin J. Dowling, Richard Bennett, Michael K. Blackwell, Todd Graham, Simon Gatrall, Robert V. O'Toole III, Hagen Schempf

Author Affiliations +

Proceedings Volume 1829, Cooperative Intelligent Robotics in Space III; (1992) https://doi.org/10.1117/12.131707
Event: Applications in Optical Science and Engineering, 1992, Boston, MA, United States

Abstract

A mobile system for space shuttle servicing, the Tessellator, has been configured, designed and is currently being built and integrated. Robot tasks include chemical injection and inspection of the shuttle's thermal protection system. This paper outlines tasks, rationale, and facility requirements for the development of this system. A detailed look at the mobile system and manipulator follow with a look at mechanics, electronics, and software. Salient features of the mobile robot include omnidirectionality, high reach, high stiffness and accuracy with safety and self-reliance integral to all aspects of the design. The robot system is shown to meet task, facility, and NASA requirements in its design resulting in unprecedented specifications for a mobile-manipulation system.

Citation Download Citation

Kevin J. Dowling, Richard Bennett, Michael K. Blackwell, Todd Graham, Simon Gatrall, Robert V. O'Toole III, and Hagen Schempf "Mobile robot system for ground servicing operations on the space shuttle", Proc. SPIE 1829, Cooperative Intelligent Robotics in Space III, (1 November 1992); https://doi.org/10.1117/12.131707

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