Sedlmayr, Hans-Jürgen and Bayer, Ralph and Bertleff, Wieland and Beyer, Alexander and Chalon, Maxime and Friedl, Werner and Maier, Maximilian and Obermeier, Thomas and Willberg, Bertram (2018) Spacehand: a multi-fingered robotic hand for the use in space. In: Proceedings of the 2018 8th International SpaceWire Conference, SpaceWire 2018. 8th International SpaceWire Conference 2018, 14. Mai - 18. Mai, Long Beach.
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Abstract
Robotic systems are not yet ready to replace human presence in space, but they provide an essential support for astronauts during routine tasks. Combined with telepresence technologies, they are ideal for hazardous or remote tasks, enabling new applications while reducing the risk and the costs associated with space operations. The Spacehand, a multi-fingered robotic hand is based on the former DEXHAND which was a technology demonstrator for a space qualifiable robotic hand. Unlike the DEXHAND, which was designed for a short term mission in ISS environment, the Spacehand shall survive a multi year servicing mission on the geostationary orbit. During the so called ''Robotic-Servicing of Geosynchronous Satellites'' - mission (RSGS) of the Defense Advanced Research Projects Agency (DARPA), the Naval Research Laboratory (NRL) and the Space Systems Loral (SSL), the Spacehand shall be utilized. To meet the requirements of the RSGS mission, the electronics and the mechanics of the hand must be adapted as well as the communication interface which was changed from CAN bus to SpaceWire. On top of the SpaceWire bus a Protocol related to the ''Reliable Data Transfer Protocol'' is realized. Furthermore the DSP code can be updated during the mission by means of a special SpaceWire bootloader.
Item URL in elib: | https://elib.dlr.de/120304/ | ||||||||||||||||||||||||||||||
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Document Type: | Conference or Workshop Item (Speech) | ||||||||||||||||||||||||||||||
Title: | Spacehand: a multi-fingered robotic hand for the use in space | ||||||||||||||||||||||||||||||
Authors: |
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Date: | 14 May 2018 | ||||||||||||||||||||||||||||||
Journal or Publication Title: | Proceedings of the 2018 8th International SpaceWire Conference, SpaceWire 2018 | ||||||||||||||||||||||||||||||
Refereed publication: | Yes | ||||||||||||||||||||||||||||||
Open Access: | No | ||||||||||||||||||||||||||||||
Gold Open Access: | No | ||||||||||||||||||||||||||||||
In SCOPUS: | No | ||||||||||||||||||||||||||||||
In ISI Web of Science: | No | ||||||||||||||||||||||||||||||
Status: | Published | ||||||||||||||||||||||||||||||
Keywords: | Space, Robotic, multi-fingered robotic Hand, Spacewire, Spacehand, orbital servicing | ||||||||||||||||||||||||||||||
Event Title: | 8th International SpaceWire Conference 2018 | ||||||||||||||||||||||||||||||
Event Location: | Long Beach | ||||||||||||||||||||||||||||||
Event Type: | international Conference | ||||||||||||||||||||||||||||||
Event Dates: | 14. Mai - 18. Mai | ||||||||||||||||||||||||||||||
Organizer: | STAR-Dundee, Microsemi | ||||||||||||||||||||||||||||||
HGF - Research field: | Aeronautics, Space and Transport | ||||||||||||||||||||||||||||||
HGF - Program: | Space | ||||||||||||||||||||||||||||||
HGF - Program Themes: | Space System Technology | ||||||||||||||||||||||||||||||
DLR - Research area: | Raumfahrt | ||||||||||||||||||||||||||||||
DLR - Program: | R SY - Space System Technology | ||||||||||||||||||||||||||||||
DLR - Research theme (Project): | R - Project Spacehand/Phoenix (old) | ||||||||||||||||||||||||||||||
Location: | Oberpfaffenhofen | ||||||||||||||||||||||||||||||
Institutes and Institutions: | Institute of Robotics and Mechatronics (since 2013) > Mechatronic Systems | ||||||||||||||||||||||||||||||
Deposited By: | Sedlmayr, Hans-Jürgen | ||||||||||||||||||||||||||||||
Deposited On: | 11 Feb 2019 09:49 | ||||||||||||||||||||||||||||||
Last Modified: | 11 Feb 2019 09:49 |
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