Experimental Evaluation of Reconfigurable Brachiating Space Robot

2001 ◽  
Vol 13 (5) ◽  
pp. 548-553 ◽  
Author(s):  
Ryoichi Hayashi ◽  
◽  
Saburo Matunaga ◽  
Yoshiaki Ohkarni ◽  
Keyword(s):  
International Space Station ◽  
Distributed Control ◽  
Experimental Evaluation ◽  
Space Station ◽  
Space Robot ◽  
International Space ◽  
Task Requirements ◽  
Modularized Design ◽  
Japanese Experimental Module

We developed a reconfigurable brachiating space robot (RBR) based on modularized design, cable reduction, and distributed control able to move over KIBO (Japanese experimental module) of the International Space Station in a brachiating manner and to reconfigure its arms based on task requirements. This paper presents RBR capabilities, focusing on grasping handrails and reconfiguration. We conduct experiments to evaluate RBR brachiation and reconfiguration and present results.

scholarly journals Design Concept and System Architecture of Reconfigurable Brachiating Space Robot

2000 ◽  
Vol 12 (4) ◽  
pp. 425-431 ◽  
Author(s):  
Ryoichi Hayashi ◽  
◽  
Saburo Matunaga ◽  
Yoshiaki Ohkami ◽  
Keyword(s):  
International Space Station ◽  
System Architecture ◽  
Space Station ◽  
Reduction Technique ◽  
Space Robot ◽  
End Effector ◽  
International Space ◽  
Distributed Controller ◽  
Task Requirements ◽  
Communications System

This paper presents a summary of the system of ""Reconfigurable Brachiating Space Robot (RBR)"". The robot consists of a center hub and three 6 degree-of-freedom arms with an end-effector and a pivot, which has a reconfigurable mechanism, for each arm. This space robot is capable of moving over the Japanese Experimental Module of the International Space Station in a brachiating manner and also capable of arm reconfiguration according to the various task requirements. This paper explains the system architecture of RBR, mainly, the arm components, which are modularized joints, multi-function end-effector, pivot and the docking element in detail, and also focuses on the cable reduction technique with the hierarchical distributed controller system and the communications system.

Human factors assessment of International Space Station (ISS) medical equipment packs

2005 ◽  
Author(s):  
Danielle Paige Smith ◽  
Vicky E. Byrne ◽  
Cynthia Hudy ◽  
Mihriban Whitmore
Keyword(s):  
Human Factors ◽  
International Space Station ◽  
Medical Equipment ◽  
Space Station ◽  
International Space
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