Terminator Kit Assembly (TKA) includes all features that mechanical manipulator needs to use hand tools for maintenance, repair, or assembly work. Tool box holds hand tools and, on command, releases them to hand interface which accepts and operates them. TKA is being studied as possible prosthetic device

Blaise, H. T.

Dane, D. H.

English

NASA Technical Reports Server

Power 
Unit 
Hand 
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Figure 2. Wirecutter 
August 1973	 .	 B73-10216 
• 
NASA TECH BRIEF 
Marshall Space Flight Center
	
1' 
NASA Tech Briefs announce now 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. 
A Proposed Hand-Tool Assembly for Robots 
.
The problem: 
In general, robots and remote manipulators cannot 
hold, operate, and release hand tools. Some types of 
hand tools can be fitted with makeshift brackets that 
allow the robot to hold them, but hand tools that open 
and close cannot be used without considerable modi-
fication to the robot. 
The solution: 
A proposed end effector (that part of the robot 
which does the task) will grasp, hold, operate, and 
release modified hand tools. 
How it's done: 
A proposed Terminator Kit Assembly (TKA) includes 
all the features that a mechanical manipulator needs to 
Figure 1. Allen Wrench
use hand tools for maintenance, repair, or assembly work. 
It includes a tool box, a hand interface, and a power 
unit. The tool box holds the hand tools . and, on 
command, releases them to the hand interface which 
accepts and operates them. The power unit supplies the 
"muscle" for the assembly. Figures 1 and 2 depict the 
assembly with two different types of tools. The same 
handle geometry may be used for most tools. 
TERMINATOR KIT ASSEMBLY WITH HAND TOOLS
(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.
https://ntrs.nasa.gov/search.jsp?R=19730000216 2020-03-17T07:12:44+00:00Z
Notes: 
1. This device was designed for use with the ADAMS 
manipulator described in Tech Brief B73-10204. 
2. The TKA is being studied as a possible prosthetic 
device for amputees. 
3. 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: B73-10216
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
(MFS-22266)
. 
. 
B73-10216	 Category 07


A proposed hand-tool assembly for robots

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