A novel design for a hybrid space manipulator

Described are the structural design, kinematics, and characteristics of a robot manipulator for space applications and use as an articulate and powerful space shuttle manipulator. Hybrid manipulators are parallel-serial connection robots that give rise to a multitude of highly precise robot manipulators. These manipulators are modular and can be extended by additional modules over large distances. Every module has a hemispherical work space and collective modules give rise to highly dexterous symmetrical work space. Some basic designs and kinematic structures of these robot manipulators are discussed, the associated direct and inverse kinematics formulations are presented, and solutions to the inverse kinematic problem are obtained explicitly and elaborated upon. These robot manipulators are shown to have a strength-to-weight ratio that is many times larger than the value that is currently available with industrial or research manipulators. This is due to the fact that these hybrid manipulators are stress-compensated and have an ultralight weight, yet, they are extremely stiff due to the fact that force distribution in their structure is mostly axial. Actuation is prismatic and can be provided by ball screws for maximum precision

Electronically Controllable Surgical Tools

The present disclosure relates to electrically controllable surgical tools. In general, surgical devices are provided having an electrically controllable, fingered operating end for use in angiography, endovascular and/or neurological surgery. The finger(s) at the operating end can be made from ionic polymer metal composite (IPMC) material to facilitate control of the finger(s)

Electrically Controllable Surgical Tools

The present disclosure relates to electrically controllable surgical tools. In general, surgical devices are provided having an electrically controllable, fingered operating end for use in angiography, endovascular and/or neurological surgery. The finger(s) at the operating end can be made from ionic polymer metal composite (IPMC) material to facilitate control of the finger(s)

Deployable robotic woven wire structures and joints for space applications

Deployable robotic structures are basically expandable and contractable structures that may be transported or launched to space in a compact form. These structures may then be intelligently deployed by suitable actuators. The deployment may also be done by means of either airbag or spring-loaded typed mechanisms. The actuators may be pneumatic, hydraulic, ball-screw type, or electromagnetic. The means to trigger actuation may be on-board EPROMS, programmable logic controllers (PLCs) that trigger actuation based on some input caused by the placement of the structure in the space environment. The actuation may also be performed remotely by suitable remote triggering devices. Several deployable woven wire structures are examined. These woven wire structures possess a unique form of joint, the woven wire joint, which is capable of moving and changing its position and orientation with respect to the structure itself. Due to the highly dynamic and articulate nature of these joints the 3-D structures built using them are uniquely and highly expandable, deployable, and dynamic. The 3-D structure naturally gives rise to a new generation of deployable three-dimensional spatial structures

MECE2002-39037 Electrically Controllable Deformations In Ionic Polymer Metal Composite Actuators

ABSTRACT Ionic polymer metal composites (IPMC's) exhibit spectacular coupling between electrical and mechanical domains. Sensing and actuation properties of these materials and the force an

Automation of MCDOR at NMT-3 Los Alamos National Laboratory. Final report

The automation of various parts of multiple--cycle direct oxide reduction (MCDOR) at LANL`s NMT-3 was the goal of this research and development activities. In particular, originally the following goals were assigned to the author by the NMT-3 technical staff leaders (Greg Bird, Jim McNeese, Joel Williams): (1) Design and fabricate an automation set up; (2) Step-wise automation is preferred; (3) Step 1 involves automatic metering and mixing of powders; and (4) Step 2-automatic transport of powder to furnace location The initial task assigned in May 91 was to get the appropriate design developed and order equipment and parts to automatically weight powders. In fact the work statement read {open_quotes}Create an experimental automation set up in the ME Department at UNM to automatically weigh powders using an electronic balance. Further, design the set up such that the electronic balance is reprogrammable for specific weight set points. Thus, when a set point in weight is reached by means of a vibratory feeder feeding a container on the balance, the electronic balance will send an electronic signal out to switch off the vibratory feeder{close_quotes}. The automation of the reduction of plutonium oxide to plutonium is described

Solid State Aircraft Concept Overview

Due to recent advances in polymers, photovoltaics, and batteries a unique type of aircraft may be feasible. This is a solid-state aircraft, with no conventional mechanical moving parts. Airfoil, propulsion, energy production, energy storage and control are combined in an integrated structure. The key material of this concept is an ionic polymeric-metal composite (IPMC) that provides source of control and propulsion. This material has the unique capability of deforming in an electric field and returning to its original shape when the field is removed. Combining the IPMC with thin-film batteries and thin-film photovoltaics provides both energy source and storage in the same structure. The characteristics of the materials enables flapping motion of the wing to be utilized to generate the main propulsive force. Analysis shows that a number of design configurations can be produced to enable flight over a range of latitudes on Earth, Venus and possibly Mars

An Energetically-Autonomous Robotic Tadpole with Single Membrane Stomach and Tail

We present an energetically autonomous robotic tadpole that uses a single membrane component for both electrical energy generation and propulsive actuation. The coupling of this small bio-inspired power source to a bio-inspired actuator demonstrates the first generation design for an energetically autonomous swimming robot consisting of a single membrane. An ionic polymer metal composite (IPMC) with a Nafion polymer layer is demonstrated in a novel application as the ion exchange membrane and anode and cathode electrode of a microbial fuel cell (MFC), whilst being used concurrently as an artificial muscle tail. In contrast to previous work using stacked units for increased voltage, a single MFC with novel, 0.88ml anode chamber architecture is used to generate suitable voltages for driving artificial muscle actuation, with minimal step up. This shows the potential of the small forces generated by IPMCs for propulsion of a bio-energy source. The work demonstrates great potential for reducing the mass and complexity of bio-inspired autonomous robots. The performance of the IPMC as an ion exchange membrane is compared to two conventional ion exchange membranes, Nafion and cation exchange membrane (CEM). The MFC anode and cathode show increased resistance following inclusion within the MFC environment

High Electromechanical Response of Ionic Polymer Actuators with Controlled-Morphology Aligned Carbon Nanotube/Nafion Nanocomposite Electrodes

Author Manuscript 2011 October 8Recent advances in fabricating controlled-morphology vertically aligned carbon nanotubes (VA-CNTs) with ultrahigh volume fraction create unique opportunities for markedly improving the electromechanical performance of ionic polymer conductor network composite (IPCNC) actuators. Continuous paths through inter-VA-CNT channels allow fast ion transport, and high electrical conduction of the aligned CNTs in the composite electrodes lead to fast device actuation speed (>10% strain/second). One critical issue in developing advanced actuator materials is how to suppress the strain that does not contribute to the actuation (unwanted strain) thereby reducing actuation efficiency. Here, experiments demonstrate that the VA-CNTs give an anisotropic elastic response in the composite electrodes, which suppresses the unwanted strain and markedly enhances the actuation strain (>8% strain under 4 V). The results reported here suggest pathways for optimizing the electrode morphology in IPCNCs using ultrahigh volume fraction VA-CNTs to further enhanced performance.United States. Army Research Office (Grant W911NF-07-1-0452)National Institutes of Health (U.S.) (Grant R01-EY018387-02)United States. Multidisciplinary University Research Initiativ