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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, 2019-10-21 - 2019-10-25, Washington D.C.. ISSN 0074-1795.

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Abstract

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
Authors:
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Maier, MaximilianUNSPECIFIEDhttps://orcid.org/0000-0003-1502-696XUNSPECIFIED
Chalon, MaximeUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Pfanne, MartinUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Bayer, RalphUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Mascarenhas, Manuel MariaUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Sedlmayr, Hans-JürgenUNSPECIFIEDhttps://orcid.org/0000-0003-1180-3960UNSPECIFIED
Shu, Anton LeonhardUNSPECIFIEDhttps://orcid.org/0000-0002-8825-6697UNSPECIFIED
Date:2019
Journal or Publication Title:Proceedings of the International Astronautical Congress, IAC
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In SCOPUS:Yes
In ISI Web of Science:No
ISSN:0074-1795
Status:Published
Keywords:space robotics, impedance control, exploration, small robotic arm
Event Title:International Astronautical Congress
Event Location:Washington D.C.
Event Type:international Conference
Event Start Date:21 October 2019
Event End Date: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:24 Apr 2024 20:34

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