The invention relates to an end effector device for robot or teleoperated type space vehicle which includes an inflatable balloon member carried on the end of tubular member which has a hollow center or conduit through which a suitable pressurized fluid is supplied. The device may be inserted into a variety of shaped openings or truss-type structures for handling in space

Clark, K. H.

Johnston, J. D.

English

NASA Technical Reports Server

United States Patent [I91 
Clark et al. 
11 11 4,273,505 
[45] Jun. 16, 1981 
[54] PNEUMATIC INFLATABLE END EFFECTOR 
[75] Inventors: 
I731 Assignee: 
[21] Appl. No.: 
[22] Filed: 
1511 Int. Cl.3 ... 
Keith H. Clark, Decatur; James D. 
Johnston, Madison, both of Ala. 
The United States of America as 
represented by the Administrator of 
the National Aeronautics and Space 
Administration, Washington, D.C. 
945,044 
Sep. 22, 1978 
............................................ B25J 3/00 - -  
[52] U.S. CI. ...................................... 414/735; 294/93; 
414/4; 414/744 A 
[58] Field of Search ............... 294/67 C, 86.24, 86.25, 
294/86.28, 86.32, 93, DIG. 2; 414/729, 730, 
732, 731, 733, 734, 735, 738, 744, 618, 225, 120, 
7 1 , 6 , 7 , 5 , 4 , 3 , 2 ,  1 
[561 References Cited 
U.S. PATENT DOCUMENTS 
3,255,893 6/1966 Hainer et al. .................... 414/732 X 
3,268,091 8/1966 Melton ............................... 244/52 X 
3,327,450 6/1967 Carter ............................... 294/93 X 
3,347,587 10/1967 Frost .................................. 294/93 X 
Primary Examiner-Frank E. Werner 
Attorney, Agent, or Firm-J. H. Beumer; J. R. Manning; 
L. D. Wofford 
[571 ABSTRACT 
The invention relates to an end effector device for a 
robot or teleoperated type space vehicle which includes 
an inflatable balloon member carried on the end of a 
tubular member which has a hollow center or conduit 
through which a suitable pressurized fluid is supplied. 
The device may be inserted into a variety of shaped 
openings or truss-type structures for handling in space. 
5 Claims, 5 Drawing Figures 
https://ntrs.nasa.gov/search.jsp?R=19810018180 2020-03-21T09:55:57+00:00Z
U.S. Patent Jun. 16, 1981 4,273,505 
P 
1 
4,273,505 
2 
BRIEF DESCRIPTION OF THE DRAWINGS 
The construction designed to carry out the invention 
will be hereinafter described, together with other fea- 
readily understood from 
a reading of the following specification and by refer- 
PNEUMATIC INnATABLE END EFFECTOR 
ORIGIN O F  THE INVENTION 
5 tures thereof. The invention described herein was made by employ- 
Government and may be manufactured The invention will be ees Of the 
and 
purposes without the payment Of any 
by Or for the Government for governmental 
thereon 
ence to the accompanying drawings forming a part 
thereof, wherein an example of the invention is shown 
or therefor. 10 and wherein: 
BACKGROUND OF THE INVENTION 
The invention relates to a device for grasping an 
object from a remote location and, more PartiCUlarly, to 
an end-effector device for the end of a remotely con- 15 FIG. 1; 
trolled mechanical manipulator arm of the type used in 
space exploration programs whereby an object may be 
grasped by insertion of the device into an open part Of 
the object. 
jects and performing general work in space maneuvers 
which have typically included a set of opposed jaws or 
fingers which are movable towards and away from each 
other such as shown in U.S. Pat. Nos. 3,401,903 and 
3,268,091. However, with the advent of the space shut- 25 
tle and orbital laboratory-type programs, it has become 
necessary to work with thin frame structures which are 
fragile and may not be handled with jaw-type end-effec- 
tor devices without substantial risk of damage. 
opening such as bottles with inflatable devices such as 
shown in U.S. Pat. Nos. 3,945,486 and 3,780,492. How- 
FIG. 1 is a perspective view illustrating a teleopera- 
tor vehicle incorporating an end effector device con- 
structed according to the invention; 
FIG. 2 is a sectional view taken along line 2-2 at 
FIG. 3 is a partial sectional view taken along line 
3-3 of FIG. 1; 
FIG. 4 is an elevation of an end effector device ac- 
cording to the invention in a deflated condition; and 
FIG. 5 is a perspective view illustrating a thin truss- 
type frame being grasped by an end effector device 
according to the invention. 
DESCRIPTION OF A PREFERRED 
EMBODIMENT 
Prior devices have been developed for grasping ob- 20 
A pneumatic end-effector device, designated gener- 
ally as A, is illustrated in connection with a teleoperated 
space vehicle 10 of the type having a mechanical manip- 
ulator arm 12 which includes a shoulder joint, desig- 
1 k  an elbow joint 126, and a Wrist 
joint, generally designated as 12c, which consists of 
cylindrical housings 13a and 136 having axes about 
It has also been known to pick UP articles having an 30 nated generally 
ever, these devices do not readily lend themselves to the 
structures and problems involved in space applications. 
which Pitch and yaw rotational motion are produced, 
respectively. Further rotational motion may be pro- 
35 duced about shoulder and elbow joints 12a and 12b all 
SUMMARY OF THE INVENTION of which is typically produced by electric motors and 
It has been found that an end-effector device for a mechanisms housed within the joints which are con- 
remote controlled manipulator arm of a space trolled through the teleoperator from a remote 
can be provided for grasping delicate thin truss-type location to manipulate the end-effector A and an at- 
40 tached load during use. Since the details of the vehicle, structures avoiding damage thereto wherein the device manipulator arm, and control therefor form no part of includes a pneumatic inflatable member having an ex- the invention herein, such are omitted and reference 
movement in the yaw and pitch directions while main- detail to the drawing, the 
45 pneumatic inflatable end effector A is illustrated as taining the device in a grasping configuration. An important object of this invention is to provide an in the form of member 14 
type frame structures which are utilized in space struc- of a clamp 18 engaged around the circumference 
tures such as space platforms, antenna constructions, of the neck of the balloon and the tubular member 
solar collectors, solar powered satellites, and the like. 50 16. The tubular member 16 may be connected to the 
Another important object of the present invention is manipulator arm through a conventional connector 
to provide an inflatable end-effector device which can device 19 and an adapter member 20. The 
be used with thin truss-type frame space structures device 19 being carried by the manipulator wrist joint 
which are fragile without damaging the structures by 1zC of the mechanical manipulator arm by of 
crushing or other forceful engagement. 55 connector 21. Balloon member 14 may be provided by 
Another important object of the present invention is any suitable inflatable fabric or elastic-type material 
to provide an end-effector device which will fit a vari- preferably in a pleated configuration. 
ety of object opening shapes. The end-effector device includes a bore 22 terminat- 
Another important object of the present invention ing at an enlarged bore 24 which slidably receives a 
wherein an inflatable end device is provided which is 60 reciprocating spine member 26 having a plurality of 
resilient and highly forgiving when placed under strain openings 2& for communicating a suitable pressurized 
by the object being grasped or held. fluid to the interior of the ballon member 14 by way of 
Another important object is to provide an end-effec- the bores 24 and 22. Adapter member 20 is fitted with a 
tor device which is essentially self-centering such that it coupling 25 which communicates with bores 22, 24 and 
can be inserted into an opening at an angle and will 65 the balloon interior for making connection with flexible 
generally assume the shape of the opening once it is tubing 2% communicating with the pressurized fluid 
inflated eliminating the need for precise alignment with source (not shown), any conventional controls may be 
the opening. provided to control the admission and venting of fluid. 
tendable 'pine member affording reinforcement for may be had to U.S. Pat. No. 3,268,091 for more detail. 
Referring now in 
including a balloon end-effector device which Will grasp Of bold thin truss- is carried on the end of a tubular member 16 by 
4.273.505 
3 
Any suitable source of pressurized fluid such as air or 
water, in the case of underwater applications, may be 
utilized. It is preferred that the pressurizing system be a 
closed system so that in applications in space, no expul- 
sion of the pressurized fluid occurs resulting in a reac- 
tionary movement. 
A spring member 28 applies a light bias on the spine 
member 26 to the right to aid and accommodate the 
extension and retraction of the spine member 26 during 
inflation and deflation without the presence of slack. 
Adjacent the remote end of the spine member, a tip 30 
is provided about which a clamp 32 clamps the balloon 
member 14 to the spine member. The spine member 26 
provides rigidity to the inflatable end-effector device 
during pitch and yaw motions when the device is in- 
serted within a receptacle and under load. 
The base of the inflatable balloon 10 includes a stiff- 
ened portion at 34 in the form of wire leafs arranged in 
a kaleidoscopic pattern so that individual generally 
gore-shaped sections 36 are provided to accommodate 
the pleated configuration of the balloon member when 
inflated. The stiffened portion may be provided by wire 
or other suitable reinforcing material, or multiple fabric 
layers molded into the balloon fabric in the form illus- 
trated or made integral with the fabric in any other 
manner. This stiffened portion 34 of the balloon mem- 
ber provides additional reinforcement of the balloon 
member under load in all three degrees of motion but 
primarily in the roll motion or twisting. In the alterna- 
tive, an outer reinforcing sleeve such as resilient tubing 
may be clamped to the neck 14a of the balloon and may 
be split so as to allow outward flexing during inflation 
and reinforce the base section 14b of the balloon during 
use. 
Furthermore, it may be desirable to key the spine 
member 26 with the bore 24 of the tubular member 12; 
or, in the alternative, a square or other spine member 
shape having pointed edges may be used to reduce the 
twisting or roll of the balloon and end-effector device 
under load. 
In operation, the end effector is inserted in an opening 
in the object being grasped or handled by manipulating 
the arm 12. It is not necessary that the balloon 14 be 
inserted in any precise alignment with the hole or open- 
ing since upon inflation, the balloon will essentially 
assume the size and shape of the opening and will be 
self-centering or self-aligning. FIG. 5 illustrates a thin 
truss-type frame 38 with end-effector device A inserted 
in an opening between frame members 38a and 38b and 
inflated for grasping and handling the frame in space. 
Any force of the end-effector device against the frame 
will be absorbed by the resiliency of the balloon which 
is highly yielding and forgiving, avoiding crushing or 
any other damage to the frame. 
Thus, it can be seen that an advantageous construc- 
tion can be had for an end effector for manipulative and 
docking devices for space, defense, and industrial use 
which provides a means for capturing, holding, han- 
dling and maneuvering objects of various sizes and 
shapes such as satellites, payloads, structural members 
and the like. Particularly, delicate frame structures may 
be advantageously handled in a positive gripping man- 
ner without risk of damage which often accompanies 
the use of conventional end-effector arrangements such 
4 
as jaws which, even with the use of extra-sensory feed- 
back information from the end-effector, are not reliably 
effective in avoiding crushing and damage of the deli- 
cate frame structures. 
While a preferred embodiment of the invention has 
been described using specific terms, such description is 
for illustrative purposes only, and it is to be understood 
that changes and variations may be made without de- 
parting from the spirit or scope of the following claims. 
1. In the combination of a remote controlled manipu- 
lator arm and an end-effector device of the type used on 
space vehicles and the like for .carrying out maneuvers 
by inserting said end-effector device into an opening in 
an object being grasped, wherein said end-effector de- 
vice comprises: 
5 
10 What is claimed is: 
a tubular member; 
means for adapting said tubular member to said ma- 
nipulator arm; 
inflatable balloon means carried by one end of said 
tubular member expandable into a general shape 
for occupying said opening of said object; 
2o 
a hollow bore formed within said tubular member; 
means for connecting said hollow bore to a source of 
an elongated spine member carried by said tubular 
member in a cantilevered manner extending past 
said one end of said tubular member and having a 
distal end attached to said balloon means affording 
rigidity to said balloon means when inflated and 
during manipulation of said object; 
said spine member being slidably carried by said tubu- 
lar member to variably project and retract relative 
to said tubular member for accomodating the infla- 
tion and deflation of said balloon means; 
reinforcing means carried in contact with a base por- 
tion of said balloon means for stiffening said base 
portion when inflated affording reinforcement 
under load to provide a degree of rigidity to said 
balloon means when undergoing motion about the 
axis of said tubular member; 
a central bore formed in said spine member communi- 
cating with said hollow bore of said tubular mem- 
a plurality of openings formed in the exterior of said 
spine member communicating said central bore 
with the interior of said balloon means by which 
said balloon means may be selectively inflated and 
2. The device of claim 1 including wire stiffening 
means carried by a base portion of said balloon means 
arranged in a general kaleidoscopic pattern affording 
reinforcement to said balloon means under load. 
3. The device of claim 2 wherein said wire stiffening 
means is embedded in the fabric of said balloon means. 
4. The device of claim 1 wherein said spine member is 
received within said hollow bore of said tubular mem- 
ber. 
5. The device of claim 4 including biasing means 
carried in said hollow bore in engagement with an end 
of said spine member accommodating extension and 
retraction of said spine member without slack. 
25 pressurized fluid; 
3o 
35 
40 
45 ber; and 
50 deflated. 
55 
60 
* * * * *  
65 


Pneumatic inflatable end effector

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