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Spacehand: a multi-fingered robotic hand for the use in space

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/
Document Type:Conference or Workshop Item (Speech)
Title:Spacehand: a multi-fingered robotic hand for the use in space
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Sedlmayr, Hans-Jürgenhans-juergen.sedlmayr (at) dlr.deUNSPECIFIED
Bayer, Ralphralph.bayer (at) dlr.deUNSPECIFIED
Bertleff, WielandWieland.Bertleff (at) dlr.deUNSPECIFIED
Beyer, AlexanderAlexander.Beyer (at) dlr.dehttps://orcid.org/0000-0003-2501-0814
Chalon, MaximeMaxime.Chalon (at) dlr.deUNSPECIFIED
Friedl, WernerWerner.Friedl (at) dlr.deUNSPECIFIED
Maier, Maximilianmaximilian.maier (at) dlr.dehttps://orcid.org/0000-0003-1502-696X
Obermeier, ThomasThomas.Obermeier (at) dlr.deUNSPECIFIED
Willberg, Bertrambertram.willberg (at) dlr.deUNSPECIFIED
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 Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - Project Spacehand/Phoenix
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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