A combined docking and grasping device for use with a manipulator arm on a docking vehicle and the like for mechanically connecting a docking vehicle with an orbital payload having a receptacle for receiving the device is described. The device includes a pair of opposing jaw members having opposing serrated surfaces for grasping an object and a triangular cam portion on an outer surface for insertion and interlocking with an orbital payload

Burch, J. L.

Johnston, J. D.

English

NASA Technical Reports Server

United States Patent [19] 1 1 1 1  4,018,409 
Burch et al. [45] Apr. 19, 1977 
[ 541 
[ 751 
Johnston, Madison, both of Ala. 
1.731 Assignee: The United States of America as 
represented by the Administrator of 
the National Aeronautics and Space 
Administration, Washington, D.C. 
COMBINED DOCKING AND GRASPING 
DEVICE 
Inventors: John L. Burch, Decatur; James D. 
1221 Filed: Aug. 7, 1975 
1211 Appl. No.: 602,617 
1521 
[SI ] 
[58] 
[561 References Cited 
U.S. CI. ................................. 244/161; 213/81; 
214/1 CM 
Int. CL2 ........................................... B64G 1/00 
Field of Search .................. 244/161, 2, 135 A; 
294/97; 214/1 CM; 213/81,92, 101, 177, 186 
UNITED STATES PATENTS 
3,268,091 8/1966 Melton .......................... 244/161 X 
3,401,903 9/1968 Bohr .............................. 244/161 X 
Primary Examiner-Trygve M. Blix 
Assistant Examiner-Barry L. Kelmachter 
Attorney, Agent, or Firm-L. D. Wofford, Jr.; John R. 
Manning 
ABSTRACT [571 
A combined docking and grasping device for use with a 
manipulator arm on a docking vehicle and the like for 
mechanically connecting a docking vehicle with an 
orbital payload having a receptacle for receiving the 
device therein. 
The device includes a pair of opposing jaw members 
having opposing serrated surfaces for grasping an ob- 
ject and a triangular cam portion on an outer surface 
for insertion and interlocking with an orbital payload. 
11 Claims, 4 Drawing Figures 
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U.S. Patent ~ p r i l  19,1977 Sheet 2 of 2 4,O 18,409 
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4,O 18,409 
COMBINED DOCKING AND GRASPING DEVICE 
ORIGIN OF THE INVENTION 
The invention described herein was made by employ- 
ees of the United States Government and may be man- 
ufactured and used by or for the Government for gov- 
ernmental purposes without the payment of any royal- 
ties thereon or therefor. 
Still another important object of the present inven- 
tion is to provide a single device which can be effec- 
tively utilized to reach around objects for picking them 
up as well as for insertion into a receptacle carried on 
5 an orbiting payload for interlocking therein. 
Still another important object of the present inven- 
tion is to provide a combined docking and grasping 
device for use with a manipulator arm on a docking 
vehicle which is small and compact and can be easily 
IO stored thereon. 
BACKGROUND OF THE INVENTION 
This invention relates to a combined docking and 
grasping manipulator am device wherein a single ma- 
nipulator arm can be used for both docking and for 
performing general useful work between orbital vehi- 15 a variety of payload sizes. 
cles and orbital payloads. Heretofore, many manipula- 
tor arm devices have included separate mechanisms for 
docking and performing general useful work such as 
chandng out modules on an orbiting satellite. prior 
Still another important object of the present inven- 
tion is to provide a combined docking and grasping 
device for use with a manipulator arm wherein the 
device may be highly adjustable so as to reach around 
Still another important object of the Present inven- 
tion is to Provide a combined docking and grasping 
device for use with a manipulator arm which is self-cen- 
tenng when inserted into a receptacle on an orbital 
device to the other depending on w6ether docking or 
general work is being carried out by the orbital vehicle. 
Devices have been developed for lifting up objects by 
either grasping around the object or insertion into the 
object such as shown in U.S. Pat. No. 485,944. While 
these devices may operate satisfactorily for the in- 
tended purpose, it can be seen that such devices do not 
possess the sophistication required for carrying out 
docking maneuvers as well as general purpose work 
between an orbital vehicle and an orbital payload 
wherein specialized docking and grasping devices are 
required which can be controlled with much precision 
and accuracy. 
SUMMARY OF THE INVENTION 
25 
30 
35 
BRIEF DESCRIPTION OF THE DRAWING 
FIG. 1 is a side elevational view illustrating a com- 
bined docking and grasping device for use with a ma- 
nipulator arm constructed in accordance with the pre- 
sent invention being inserted in a receptacle for dock- 
FIG. 2 is a side elevational view of a combined dock- 
ing and grasping device constructed in accordance with 
the present invention illustrating the device inserted 
into a receptacle and moved to a spread apart configu- 
ration for interlocking the device in the receptacle, 
FIG. 3 is a front elevational view illustrating a recep- 
tacle which may be flush mounted in an orbiting pay- 
load for receiving the combined docking and grasping 
ing, 
device constructed in accordance with the present 
a manipulator arm on a docking vehicle and the like is is a side elevational view illustrating an alter- 
provided for mechanically connecting together the nate of a combined docking and grasping 
tacle for receiving the device therein. The manipulator invention. 
arm includes a conventional mechanical wrist joint 45 
having a pair of rotatable axes providing the arm with DESCRIPTION OF A P m W i l  EMBODIMENT 
m~vement about two perpendicular axes. The device The apparatus ofthe present invention may be incor- 
comprises a Pair Of jaw nmt~bers movable towards each porated with any conventional mechanical manipulator 
0 t h  and away from each other to a spread apart Con- arm such as utilized on space flight vehicles for docking 
fieration, and an elongated linkage assembly Connect- 50 and working with orbital payloads. A conventional 
ing each of the jaw members to the wrist joint. Means manipulator arm usually termbates in a mechanical 
are carried adjacent the wrist joint for moving the elon- wrist joint designated generally as 10 having rotating 
gated assembb causing the jaw members to move axes at 12 and 14 providing the manipulator arm with 
towards and away from each other. Each Of -the jaw rotational movement about the two perpendicular axes. 
members has an interface surface enabling the jaw 55 The two axes 12 and 14 about which the wrist joint 
members to grip an object securely between the sur- rotates are normally housed in cylindrical housings 16 
faces. A cam portion is formed on an upper surface of and 18, respectively. An electric motor or other suit- 
each of the jaw members for engaging a receiving por- able driving means may be utilized within the cyliindri- 
tion formed within the receptacle when the jaw mem- cal housing for rotating the wrist joint about the respec- 
bers are in a spread apart condition to interlock the 60 tive axes as controlled by the operator inside the vehi- 
docking vehicle and docking payload together. "Ius, cle 19 by remote control. 
the manipulator arm may be selectively utilized either Carried on a base plate 20 of cylindrical housing 18 
as a docking device or as a general purpose grasping is a pair of spaced housings 22 and 24 which are con- 
device to pick up an object. nected to a pair of elongated linkage assemblies 26 and 
Accordingly, it is an important object of the present 65 28, respectively. The elongated linkage assemblies are 
invention to provide a combined docking and grasping connected to the respective housings by motorized 
device for use with a manipulator arm on a docking pivot points 29 and 30. Carried on the other end of the 
vehicle and the like. elongated linkage assemblies 26 and 28 are a pair of 
A combined docking and grasping device for use with 4o invention, and 
FIG. 
docking vehicle with a docki% Payload having a recep- device constructed in accordance with the present 
4,O 18,409 
3 4 
jaw members 32 and 34. The jaw members 32 and 34 present invention is illustrated wherein a pair of elon- 
are moved towards and away from each other by any gated members 62 and 64 are provided which are sub- 
suitable conventional means such as by the motorized stantially longer than the elongated linkage assemblies 
pivots 29 and 30 which transmit the motion to the jaw 26 and 28 of FIGS. 1 and 2. The elongated member 62 
members through the elongated linkage assemblies 26 5 has a first end 66 pivotally connected to a jaw member 
and 28. The motorized pivots 29 and 30 may be driven 68 and a second end 70 connected adjacent the cylin- 
by small electric motors and suitable gear arrange- drical housing 18 of wrist joint 10. Likewise, the elon- 
ments which are controlled by the operator utilizing gated member 64 has a first end 72 connected to a jaw 
remote controls. The jaw member 32 is connected to member 74 and a second end 76 connected at the wrist 
the elongated linkage assembly 26 utilizing any suitable IO joint. The ends 70 and 76 of the elongated members are 
pivot connection at 36, and jaw member 34 is con- carried in a pair of vertical elongated slots 78 and 80, 
nected at 38 to the elongated linkage assembly 28 in a respectively. The ends 70 and 76 move in the slots 78 
like manner. Each of the elongated linkage assemblies and 80 in a straight line towards and away from each 
26 and 28 includes a pair of elongated members 26a, other so as to vary the displacement between the elon- 
26b, and 28a, 2% 15 gated members 62 and 64 enabling them to be ex- 
Each of the jaw members 32 and 34 include an inter- tended around larger payloads for gripping the same. 
face surface 40 and 42, respectively, for gripping an The ends 70 and 76 of the elongated members 62 and 
object therebetween. Each of the interface surfaces 40 64, respectively, may be provided with rotating axes 
and 42 is serrated so as to enhance the gripping effect 70u and 76u driven by small electric motors having a 
of the jaws. 20 gear arrangment (not shown) which meshes with a 
Since the jaw members 32 and 34 are identical, only longitudinal gear rack 7th and 80u or any other suit- 
one of such jaws will be described in detail for purposes able means may be provided for moving the ends 70 
of illustration. Jaw member 32 includes a triangular and 76 up and down the slots 78 and 80. Suitable elec- 
cam portion 44 formed on an upper surface or back tronic controls may also be provided for controlling the 
side thereof for engaging within a V-shaped groove 46 25 movement of the ends 70 and 76 at a remote station. 
formed within an interior surface of an internal cavity The elongated slots 78 and 80 are formed in a housing 
48 within the receptacle 50 carried within a payload 82 which is carried by the cylindrical housing 18 for 
vehicle 51. The V-shaped groove 46 extends around rotation therewith. 
the entire internal periphery of the cavity 48 which is The jaw members 68 and 74 are identical and there- 
illustrated in FIGS. 1 and 2 in cross-section. The triang- 30 fore only a single jaw member 68 will be described in 
ular cam portion 44 is defined by a triangular portion detail. The jaw member 68 includes a first bar element 
52 sloping upwardly from one end of the interface 84 connected to the pivotable joint 66 and a second bar 
surface 40 towards an apex 54. Thereafterwards the element 86 connected to the first bar element 84 at a 
triangular portion slopes downward at 56 extending pivotable joint 88. The pivotable joints 66 and 88 may 
into an elongated portion 58 which terminates at the 35 be remotely controlled using small electric motors as is 
opposite end of the interface surface and provides an the pivoted joint 72 and the corresponding pivoting 
elongated bill member for each jaw member 32 and 34. joint 89 of jaw member 74. The jaw members 68 and 74 
At the apex of each jaw member 32 and 34 is a roller so constructed may be advantageously utilized to reach 
beiring 60 which aids in the jaw members being self- around much larger payloads than the jaw member of 
centered in the V-shaped groove 46 when the jaw 40 FIGS. 1 and 2. The jaw members 68 and 74 may also be 
members are moved to their spread apart configura- provided with serrated interface surfaces 90 and 92 so 
tion, as best seen in FIG. 2, for interlocking the jaw as to grip an object securely therebetween. The jaw 
members within the receptacle 50. The receptacle 50 is members 68 and 74 may be controlled to pivot into the 
preferably flush mounted within the orbital payload 51 position shown in FIG. 4 wherein a triangular shape is 
which provides easier docking at a variety of approach 45 provided having an apex formed at the pivoted joint 88 
angles. and 89 for fitting within the V-shaped groove 46 
A sensor means 61 is carried adjacent the end of jaw formed within the receptacle 50. 
member 32 for sensing a desired depth of penetration Thus, it can be seen that a highly versatile and advan- 
of the jaw members within the cavity 48 to initiate the tageous docking and grasping device can be con- 
moving of the jaw members away from each other so as 50 structed in accordance with the invention wherein the 
to interlock in the receptacle 50. elongated members 62 and 64 may be displaced away 
In a preferred embodiment, the internal cavity 48 from each other and the corresponding jaw member 68 
formed within the receptacle 50 is a substantially rect- and 74 may be utilized to reach around progressively 
angular cross-section as illustrated in FIG. 3, and the larger payloads while also being utilized for docking in 
jaw members 32 and 34 also have a substantially rect- 55 an interlocking manner. 
angular cross-section so as to interlock in the recepta- The combined docking and grasping device con- 
cle. Preferably the receptacle 50 is of substantially structed in accordance with the present invention dou- 
square cross-section and the width of the jaw members bles the potential workload of a single manipulator arm 
32 and 34 is approximately equal to that of the square on an orbital vehicle for many space mission profiles 
cross-section of the entrance to the receptacle cavity 60 and increases their workload capabilities. For example, 
48 so as to interlock in multiples of ninety degrees of two devices could be used to take a large payload from 
rotation with respect to the internal cavity. the storage bay of the vehicle and place the payload 
The jaw members 32 and 34 may also be provided into a launch position, perhaps twenty-five feet above 
with a longitudinal groove formed centrally along the the vehicle. One of the devices could then continue to 
entire length of each interface 40 and 42, respectively, 65 hold and stabilize the payload in space while the other 
for holding tools as tool adapters. Referring now to device could detach itself from the payload and act as 
FIG. 4, an alternate embodiment of a docking and a general working device to check out and replace the 
grasping device constructed in accordance with the payload components as required. Many other applica- 
4,O 18,409 
5 6 
tions could be had with the combined docking and 
grasping device of the present invention is unplanned 
or emergency type operations which could easily save a 
mission. 
While a preferred embodiment of the invention has 5 
been described using specific terms, such description is 
for illustrative purposes only and it is to understood 
that changes and variations may be made without de- 
What is claimed is: 
1. A combined docking and grasping device for use 
with a manipulator arm on a docking vehicle for me- 
chanically connecting together the docking vehicle 
with a docking payload having a receptacle for receiv- 
3. The apparatus of claim 2 wherein said triangular 
portion extends downwardly from said apex to form an 
extended elongated portion terminating opposite said 
one end of said interface surface. 
4. The apparatus of claim 2 wherein a roller bearing 
is tamed at said apex of said triangular cam Portion to 
aid said cam portion in being centered in said receiving 
portion. 
10 includes an internal cavity formed therein receiving 
said jaw member 
6. The apparatus of claim 5 wherein said jaw mem- 
bers and said internal cavity are substantially rectangu- 
lar in cross-section 
parting from the spirit or scope of the following claims. 5- The apparatus of claim 1 wherein said receptacle 
ing said device therein, said manipulator arm including 15 '. The apparatus Of wherein 
a mechanical wrist joint having a pair of rotatable axes includes a substantially groove formed around the periphery of said internal cavity for receiv- 
ing said triangular cam portion when said jaw members 
are in said spread apart condition. 
wherein said interface 
providing said arm with movement about two perpen- 
dicular axes, said device comprising: 
a. a pair of jaw members movable towards each other 8. The apparatus of claim and from each Other to a spread apart 'Onfig- *' surface is serrated for securely gripping an object be- 
b. an linkage connecting each Of 9. The apparatus of claim 1 wherein said elongated 
tween the jaw members. 
linkage assembly includes a pair of elongated members 
having a first end connected to a jaw member and a 
to move towards and away from each other; the apparatus includes means for moving said second 
d. each Of said jaw members having an interface ends of said elongated members towards and away 
surfax enabling said jaw mmbers to MP an ob- from each other so as to enable said jaw members car- 
ject securely between said surfaces; and 3o ried on said first ends to reach around progressively 
e. a cam portion formed on an upper Surface Of each larger payloads accordingly. 
Of said jaw for engaging a receiving PO'- 10. The apparatus of claim 5 wherein said jaw mem- 
tion formed within said receptacle When said jaw ber includes a first element connected to said elongated 
nm~~bers  are in a spread apart condition to inter- linkage assembly and a second element connected to 
lock said docking vehicle and docking payload 35 said first element at a pivoted joint thereof whereby 
together; said first and second elements may be pivoted relative 
whereby said manipulator arm may be selectively to each other so as to grip around an object. 
utilized either as a docking device or as a general 11. The apparatus of claim 10 wherein said cam 
purpose grasping device to pick up an object. portion includes said pivoted joint which defines an 
2. The apparatus of claim 1 wherein said cam portion apex receivable in a V-shaped'groove formed in an 
uration; 
said jaw members to said wrist joint; 
c. means carried adjacent said wrist joint for moving 
said causing said jaw members 25 second end connected to said wrist joint, and wherein 
includes a triangular portion sloping upwardly from 40 interior surface of said cavity. 
one end of said interface surface towards an apex. * * * * *  
45 
50 
55 
60 
65 


Combined docking and grasping device

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