Form 9.B Project Summary
Chron:
970066
Proposal
Number:
25.01-0577
Project Title:
3 DOF Roll-Bend-Roll Epicyclic
Anthropomorphic Wrist
Technical Abstract (Limit 200 words)
NASA is committed to developing anthropomorphic
robots and devices to perform remote tasks in
space. Development of sophisticated mechanisms
such as multi-degree of freedom (DOF) hands and
end effectors with numerous wires and possibly
remote motors create demanding constraints on
other system components. Directly addressing this
need, MAR is proposing the development of a 3
DOF anthropomorphic roll-bend-roll wrist that
utilizes an epicyclic power transmission to provide
efficient packaging and a large internal passage
through the center of rotation for routing of wires
and drive cables. This innovative transmission
combines zero backlash planetary gearing and a
triple input differential with a triple load path cable
driven output stage that generates minimal radial
bearing loads and no thrust loads. In-line motors
and drive components produce anthropomorphic
kinematics with all 3 axes intersecting at the center
of the wrist. Joint motion is coupled and all 3 motors
contribute to the output of each axis, producing
wrist capacity up to 3 times that of traditional
designs. Phase I will develop the conceptual design
and perform detailed analysis and prototyping of
key innovative technologies. Phase II continues
R&D efforts producing and testing the 3 DOF
wrist.
Potential Commercial Applications (Limit 200 words)
Commercial applications include telerobotics,
industrial automation, prosthetics, surgical
manipulators, and camera positioning. Significant
features of the technology such as; zero-backlash,
minimal bearing loads, and an unobstructed central
wire passage provide marketing advantages for
epicyclic mechanisms in numerous markets. Three
specific commercial products targeted by MAR are
discussed in Part 10.
Name and Address of Principal Investigator (Name,
Organization Name, Mail Address, City/State/Zip)
Joseph C. Matteo
Matteo Automation & Robotics Company
721 Summit Lake Court
Knoxville , TN 37922
Name and Address of Offeror (Firm Name, Mail Address,
City/State/Zip)
Debbie M. Matteo
Matteo Automation & Robotics Company
721 Summit Lake Court
Knoxville , TN 37922