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/ | ||||||||||||||||||||||||||||||||
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Document Type: | Conference or Workshop Item (Speech) | ||||||||||||||||||||||||||||||||
Title: | TINA: small torque controlled robotic arm for exploration and small satellites | ||||||||||||||||||||||||||||||||
Authors: |
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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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