A Field Reconfigurable Manipulator for Rovers, Phase II

Metadata Updated: May 2, 2019

Robotic systems will be deeply integrated into future human exploration of the lunar surface. Prior to human arrival, they will conduct scientific investigations, explore potential habitation sites, prepare infrastructure, and construct the necessary facilities for human occupation and activity. When humans are present, robotic systems will assist and support them in the various activities of exploration and habitation. Given the great cost of developing such systems, transporting them to the Moon, and maintaining them there, NASA must ensure that the robots it sends are capable of many different tasks. This will enable a smaller number of robots to accomplish the necessary tasks while providing better redundancy in case of subsystem failure. We propose to build an innovative manipulation system that includes a modular dexterous manipulator for various mobile platforms and a software control system that seamlessly coordinates motion control of rover and manipulator. The manipulation system will be JAUS-compliant, enabling many existing technologies to easily interface with it. The proposed innovation has two main components. The primary component is a lightweight, low-power manipulation system for mobile platforms. The manipulator itself will be swiftly reconfigurable with up to seven degrees of freedom (DOF). There will be several different tools available for use at the end effector: some passive, some active. All associated electronics will be internal to the manipulator, requiring only power and data connections externally. Connections between modules will use the innovative "Universal Mating Adapter". The second innovative component is a software control system that coordinates control of the vehicle and manipulator. Such coordination extends the robot's dexterous workspace and facilitates teleoperation by providing the operator with a unified interface.

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Public: This dataset is intended for public access and use. License: U.S. Government Work

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Metadata Created Date August 1, 2018
Metadata Updated Date May 2, 2019

Metadata Source

Harvested from NASA Data.json

Additional Metadata

Resource Type Dataset
Metadata Created Date August 1, 2018
Metadata Updated Date May 2, 2019
Publisher Space Technology Mission Directorate
Unique Identifier TECHPORT_6303
Maintainer Email
Public Access Level public
Bureau Code 026:00
Metadata Context https://project-open-data.cio.gov/v1.1/schema/catalog.jsonld
Metadata Catalog ID https://data.nasa.gov/data.json
Schema Version https://project-open-data.cio.gov/v1.1/schema
Catalog Describedby https://project-open-data.cio.gov/v1.1/schema/catalog.json
Datagov Dedupe Retained 20190501230127
Harvest Object Id bded1a90-503d-4f26-85a0-bbfeaa47d3af
Harvest Source Id 39e4ad2a-47ca-4507-8258-852babd0fd99
Harvest Source Title NASA Data.json
Data First Published 2010-01-01
Homepage URL https://techport.nasa.gov/view/6303
License http://www.usa.gov/publicdomain/label/1.0/
Data Last Modified 2018-07-19
Program Code 026:027
Source Datajson Identifier True
Source Hash 1761216ea75feccdf0ed24f6da7a6e2f96e784d9
Source Schema Version 1.1

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