Manipulator offers improved performance over other models in its category. It features larger force and reach capabilities and is readily convertible for underwater use. Unique kinematic arrangement provides extremely large working envelope. System has six degrees of motion: azimuth joint, shoulder joint, upper arm rotating joint, elbow joint, wrist pitch, and wrist twist

Blaise, H. T.

Dane, D. H.

Kugath, D. A.

English

NASA Technical Reports Server

rm 
I Joint 
June 1973	 CORRECTED COPY
	 B73-10204 
• NASA TECH BRIEF
•14Y 
Marshall Space Flight Center 
NASA Tech Briefs announce new technology derived from the U.S. space program. They are issued to encourage 
Commercial application. Tech Briefs are available on a subscription basis from the National Technical Information 
Service, Springfield, Virginia 22151. Requests for individual copies or questions relating to the Tech Brief program may 
be directed to the Technology Utilization Office, NASA, Code KT, Washington, D.C. 20546. 
Advanced Action Manipulator System (ADAMS) 
.
Hands and arms, man's most indispensable and 
versatile tools, are easily injured in hostile environments. 
For this reason, explosive, radioactive, etc., objects are 
sometimes handled with mechanical manipulators. A 
typical manipulator system is operated with hands and 
arms and should reproduce as closely as possible their 
agility, sensitivity, and freedom of motion. Unfortunately, 
most manipulators are very complex and expensive. 
Therefore, recent emphasis has been to cut their cost 
and complexity with a token compromise in performance. 
One recently developed low-cost manipulator called 
the Advanced Action Manipulator System (ADAMS) 
offers improved performance over other models in its 
category. It features larger force and reach capabilities
and is readily convertible for underwater use, the 
system, built as a unique kinematic arrangement, pro-
vides an extremely large working envelope. The arms are 
designed so that appropriate seals may be added for 
shallow, underwater operation. The system has six 
degrees of motion (see figure): the azimuth joint, the 
shoulder joint, the upper arm rotating joint, the elbow 
joint, the wrist pitch, and the wrist twist. Its other 
features include: 
1. A load capacity of 6 lb (2.7 kg). 
2. A slave arm positional accuracy of 0.1 in. (2.5 mm). 
3. A reach capacity of 3.5 ft (1.05 m). 
4. A maximum arm speed of 30 in/sec (0.75 m/sec). 
(continued overleaf) 
This document was prepared under the sponsorship of the National
	 Government assumes any liability resulting from the use of the 
Aeronautics and Space Administration. Neither the United States
	 information contained in this document, or warrants that such use 
Government nor any person acting on behalf of the United States
	 will be free from privately owned rights.
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In addition, the arms are of conventional aluminum 
welded construction for light weight. Stainless steel is 
used where added strength is needed. 
The drive mechanisms of the system are operated 
with electronic controls and employ permanent-magnet 
servo motors with attached planetary gearheads. One 
motor gearhead combination is used for the shoulder 
and elbow motion, the other is used for the wrist 
motion. The potentiometers are packaged internally 
for protection and to minimize the profile. They 'are 
spur-gear driven off the motor shaft. 
Two main sets of counterweights are included with 
the system. They extend behind the shoulder approxi-
mately eight inches (20 cm). The sum of the two sets 
eliminates the shoulder joint imbalance. Adjustments of 
these counterweights between the right-hand and left-
hand manipulators provide balance about the tilted 
azimuth axis. 
The servo controls include an operational amplifier 
output stage to drive the motors. A power conditioning 
card feeds ± 8.1 V to the potentiometers and ± 6.2 V to 
the operational amplifier. In addition, a lag network 
within the amplifier provides the servo compensation. 
Finally, gain between the master and slave is controlled
by a stepping rotary switch which changes the master 
input resistance to the operational amplifier. 
Note: 
Requests for further information may be directed to: 
Technology Utilization Officer 
Marshall Space Flight Center 
Code A&PS-TU 
Marshall Space Flight Center, Alabama 35812 
Reference: B73-10204 
Patent status: 
Inquiries concerning rights for' the commercial use of 
this invention should be addressed to: 
Patent Counsel 
Marshall Space Flight Center 
Code A&PS-PAT 
Marshall Space Flight Center, Alabama 35812 
Source: D. H. Dane and H. T. Blaise 
Marshall Space Flight Center and
D. A. Kugath of
General Electric Co.
under contract to
Marshall Space Flight Center
(MFS-22022)
. 
B73-10204	 Category 05, 07


Advanced action manipulator system (ADAMS)

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