Project Title:

Tortuous-Path Robot Transport

05.08-8988
NAS10-11658
Tortuous-Path Robot Transport
Transitions Research Corporation
	15 Great Pasture Road
	Danbury, CT 06810
		J. F. Engelberger
(203-798-8988)

Abstract:

	This project investigates a built-up structure to transport a robot arm to its work
site for spacecraft assembly, test, and maintenance. The robot includes a nested,
limp member that can be extended and continuously rigidized in any angular orientation
with respect to the robot. The robot would lock its "tail" to some structure before
entering the obstructed work zone. Then the robot would proceed on its circuitous
path supported by extending the rigidized tail to conform to the path that the robot
travels. The robot arm reels in its tail to follow the reverse route. There would
be no need for continuous articulation of a series of elements to maintain relative
position within the tunnel. The robot arm would be "built" as a rigid support for
the robot no matter what the path to the work site. Mechanical complexity for a universal
solution would be greatly reduced. In Phase I, a variety of operating principles
will be examined. Most promising is a flexible tube filled with fluidized particles
that interlock upon fluid extraction.

Potential Commercial Application:

Potential Commercial Applications: Applications would be in maintenance of nuclear
power plants, ships, aircraft and space vehicles, etc., particularly where the environment
is hazardous or where extensive disassembly would be necessary to permit human access
to a work site.