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Proceedings Paper

Mobile robot system for ground servicing operations on the space shuttle
Author(s): Kevin J. Dowling; Richard Bennett; Michael K. Blackwell; Todd Graham; Simon Gatrall; Robert V. O'Toole; Hagen Schempf
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Paper 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.

Paper Details

Date Published: 1 November 1992
PDF: 12 pages
Proc. SPIE 1829, Cooperative Intelligent Robotics in Space III, (1 November 1992); doi: 10.1117/12.131707
Show Author Affiliations
Kevin J. Dowling, Carnegie Mellon Univ. (United States)
Richard Bennett, Boeing Aerospace Operations (United States)
Michael K. Blackwell, Carnegie Mellon Univ. (United States)
Todd Graham, NASA Kennedy Space Ctr. (United States)
Simon Gatrall, Carnegie Mellon Univ. (United States)
Robert V. O'Toole, Carnegie Mellon Univ. (United States)
Hagen Schempf, Carnegie Mellon Univ. (United States)

Published in SPIE Proceedings Vol. 1829:
Cooperative Intelligent Robotics in Space III
Jon D. Erickson, Editor(s)

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