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TINA: small torque controlled robotic arm for exploration and small satellites

Maier, Maximilian and Chalon, Maxime and Pfanne, Martin and Bayer, Ralph and Mascarenhas, Manuel Maria and Sedlmayr, Hans-Jürgen and Shu, Anton Leonhard (2019) TINA: small torque controlled robotic arm for exploration and small satellites. In: Proceedings of the International Astronautical Congress, IAC. International Astronautical Congress, 21-25 October 2019, Washington D.C.. ISSN 0074-1795.

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The worldwide increasing use of compliant robotic arms forces the design of modular concepts. DLR developed modular torque controlled joints that can be connected according to the needs of the mission. The thereby gained flexibility allows a fast adaption for many different applications, avoiding expensive costs in complete redevelopment. The design of TINA is following the “qualifiable" philosophy of DEXHAND [2], it is using industrial components that have similar performance as the space equivalent and following the ECSS guidelines closely. This philosophy ensures that the transition to a fully qualified design can be achieved with minimal envelop modifications. It also provides a nearly perfect model for the thermal and EMI modelling. With the development of TINA, the Institute of Robotics and Mechatronics at the German Aerospace Center continuous the successful way of compliant robotics arms for space applications.

Item URL in elib:https://elib.dlr.de/130931/
Document Type:Conference or Workshop Item (Speech)
Title:TINA: small torque controlled robotic arm for exploration and small satellites
AuthorsInstitution or Email of AuthorsAuthor's ORCID iD
Maier, Maximilianmaximilian.maier (at) dlr.dehttps://orcid.org/0000-0003-1502-696X
Chalon, MaximeMaxime.Chalon (at) dlr.deUNSPECIFIED
Pfanne, MartinMartin.Pfanne (at) dlr.deUNSPECIFIED
Bayer, Ralphralph.bayer (at) dlr.deUNSPECIFIED
Mascarenhas, Manuel MariaManuel.BrasPereiraMascarenhas (at) dlr.deUNSPECIFIED
Sedlmayr, Hans-Jürgenhans-juergen.sedlmayr (at) dlr.dehttps://orcid.org/0000-0003-1180-3960
Shu, Anton LeonhardAnton.Shu (at) dlr.deUNSPECIFIED
Journal or Publication Title:Proceedings of the International Astronautical Congress, IAC
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In ISI Web of Science:No
Keywords:space robotics, impedance control, exploration, small robotic arm
Event Title:International Astronautical Congress
Event Location:Washington D.C.
Event Type:international Conference
Event Dates:21-25 October 2019
Organizer:International Astronautical Federation
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 - Mechatronics [SY]
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Mechatronic Systems
Institute of Robotics and Mechatronics (since 2013)
Deposited By: Maier, Maximilian
Deposited On:22 Nov 2019 08:53
Last Modified:25 Mar 2022 13:03

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