SBIR 95-1 SOLICITATION
PROJECT SUMMARY
Proposal Number:
Project Title:
HYBRID DIFFERENTIAL DRIVE ANTHROPOMORPHIC MANIPULATOR
Technical Abstract:
MAR Co. proposes the development of a 7 degree-of-freedom
(DOF) anthropomorphic manipulator utilizing a 2 DOF hybrid
differential power transmission. Phase I will concentrate on
transmission concept development through design, analysis, and
prototype testing. The hybrid differential combines planetary
gearing and cable drive to produce a dual load path power
transmission. Joint motion is coupled and output torque is a
variable sum of the dual inputs based on orientation. When
correlated with the performance of the human arm as a function of
orientation, the hybrid differential allows extremely efficient
anthropomorphic manipulator design. In addition, the hybrid
differential has an open center providing a large internal cable
passage. Phase I is anticipated to demonstrate anthropomorphic
joint packaging and performance previously unattainable. Phase II
utilizes the hybrid differential drive in the development of a 7
DOF anthropomorphic manipulator. Phase II will also investigate
the limits of scaleability and application hybrid differential
technology to other robotic systems.
Potential Commercial Applications:
Commercial applications are available for anthropomorphic
manipulators anywhere humans are exposed to hazardous or
repetitive motions. Hybrid differential technology reduces the
manipulator size and cost, opening new markets currently
unavailable.
Name and Address of Offeror:
Matteo Automation & Robotics Company
8835 Ashton Court
Knoxville, TN 37923
Small Business Innovation Research Program (SBIR) &
Small Business Technology Transfer Program (STTR) Programs
Electronic Management System (EMS)
National Aeronautics and Space Administration (NASA)
The SBIR/STTR EMS site is maintained by Steve
Hu, Hughes STX.
For comments and questions, contact
webmaster@sbir.hq.nasa.gov.
Updated: Feb. 7, 1996