|
Search | Add a publication |
| ID No : | 943 Edit | Title: | Developments to Increase the Performance, Operational Versatility and Automation of a Lunar Surface Manipulation System |
| Summary / Review : | "The objective of this paper is to describe and summarize the results of the development efforts for the Lunar Surface Manipulation System (LSMS) with respect to increasing the performance, operational versatility, and automation. Three primary areas of development are covered, including; the expansion of the operational envelope and versatility of the current LSMS test-bed, the design of a second generation LSMS, and the development of automation and remote control capability. The first generation LSMS, which has been designed, built, and tested both in lab and field settings, is shown to have increased range of motion and operational versatility. Features such as fork lift mode, side grappling of payloads, digging and positioning of lunar regolith, and a variety of special end effectors are described. LSMS operational viability depends on being able to reposition its base from an initial position on the lander to a mobility chassis or fixed locations around the lunar outpost. Preliminary concepts are presented for the second generation LSMS design, which will perform this self-offload capability. Incorporating design improvements, the second generation will have longer reach and three times the payload capability, yet it will have approximately equivalent mass to the first generation. Lastly, this paper covers improvements being made to the control system of the LSMS test-bed, which is currently operated using joint velocity control with visual cues. These improvements include joint angle sensors, inverse kinematics, and automated controls." (Author's abstract) |
| Author(s) : |
Dorsey, John T.; Jones, Thomas C.; Doggett, William R.; Roithmayr, Carlos M.; King, Bruce D.; Mikulas, Marting M., [Langley Research Center] |
| Publication Date: | 2009 |
| Category(s) : |
Bases, industry and manufacturing / Construction and structures / Lunar Bases, industry and manufacturing / Mining / Lunar |
| Progress Type: | DT ( A=Analysis only, D=Design, T=Testing, C=Completed or Commercial product ) |
| Web URL : |
http://hdl.handle.net/2060/20090034163
If this link is broken, please Add Comment below. We try to keep author contact details, and a backup copy in our offline library. |
| PERMANENT code(s) : | L,U |
|
(Explanation of the last 3 rows above) |
In the row above, there are up to 4 possibilities: U = URL you can click on to get a copy instantly from another source on the internet, or request it from that source D = Downloadable from PERMANENT (such as because no other URL known...) L = LAN copy, PERMANENT has a digital copy but not downloadable from our website P = Paper copy in the PERMANENT office Typically, only 0 to 3 methods are available. |
| NTRS : | 20090034163 |
| Other Ref # : | LF99-8273 |
| Submitted by : | MEP |
| Comments: |
Please add your thoughtful Comments to this paper after reading it. All comments are reviewed and approved before being posted publicly below. If you wish to submit a private comment to the curator, instead of a public comment, just write "Private" at the start of your comment. Corrections and suggested additions to our records are appreciated. |
Add Comment |