DEVELOPMENT OF TELEROBOT HAND JOINT

PRESENTED IN THIS PROPOSAL ARE PLANS TO CONSTRUCT AND DEVELOP A HIGHLY ANTHROPOMORPHIC, PATENT PENDING, ZERO-BACKLASH, TELEROBOT HAND JOINT FOR USE AS KNUCKLES AND A WRIST. THIS WORK IS DESIGNED TO COMPLIMENT THE PRINCIPAL INVESTIGATOR'S "COMPUTER CONTROLLED ROBOT WRIST MODULE" UNDER CONSTRUCTION THROUGH NASA SBIR CONTRACT NUMBER NASI-18422 AT NASA LANGLEY RESEARCH CENTER. TELEROBOT HANDS PROVIDE THE GRASPING ABILITY NEEDED FOR TELEROBOT ARMS, DESIGNED TO REPLACE OR ASSIST ASTRONAUTS IN THE HAZARDOUS TASK OF EXTRAVEHICULAR ACTIVITY. APPLIED AS AWRIST AND KNUCKLES, THE TELEROBOT HAND JOINT FEATURES CIRCUMDUCTION, IDENTICAL TO THE HUMAN HAND. THIS PITCH/YAW MOTION INCREASES DEXTERITY AND SIMPLIFIES COMPUTER CONTROL, AND IS NOT FOUND IN OTHER ROBOTIC HANDS. PROJECT GOALS ARE DISCLOSED STATING THE CHALLENGES POSED BY THIS PROPOSAL. THE TECHNICAL DESCRIPTION DETAILS THE CONSTRUCTION AND TEST OF TWO TELEROBOT HAND JOINTS WITH APPLICATION AS A KNUCKLE AND WRIST. A DETAILED WORK PLAN IS ENUMERATED WHICH REVIEWS RELATED RESEARCH AND DEVELOPMENT ACTIVITIES. DETAILS SUCH AS RESUMES OF PARTICIPANTS, FACILITIES TO BE EMPLOYED, AND USE OF A CONSULTING ENGINEERING FIRM ARE EXAMINED. IMPACT TO FUTURE R&D, POTENTIAL APPLICATIONS, A BUDGET, AND CORPORATE LETTERS OF INTEREST CONCLUDE THIS PROPOSAL.