FLEXCRAFTMANIPULATOR

ArmStarBrett DykeAaron GouldChase WestSam ElliottChris Strong

Problem

Replacement for pressurized suits

Needs:

Functionality of human arm

Make repairs, collect samples, etc.

Performs in zero gravity environment

Solution

Robotic Arms

4 arms

2 for stability (anchors)

2 for functionality

Electronically controlled

Electric servos

1:1 control system

Responsibility is

Durability sturdiest frame

-extremely high movement forces

ease of wiring

capacity for upgrades.

What Are the Components?

big arm

Small arm

Connectors

Skin(Polyethylene)

Joint Mobility Motors

A. Motor: BLDC 56 Series Model DBT566C31A

A. Torque: 3.77 kgf-cm

B. Rotational Speed: 2800 rpm

C. Power requirement: 24 volts DC

B. Gear Box: 5GB Series

A. Gear ratio: 1:100

B. Permissible Torque: 150 kgf-cm

C. Rotational Speed: 36 rpm

Motor 1

Motor 2

Motor 3

Joint Mobility Motors

Manipulator

Simple Design

Aluminum Structure

AA 2024

Allows functionality similar to human hand

Manipulator

Servo AKM1

(Finger

Joints)

AKM3

(Wrist Joint)

Max BUS (VDC) 320 640

Max Stall Tc

(lb-in)

0.409

(3.62)

2.88

(25.5)

Max Tp (lb-in) 1.46 10.22

Max Rated N 8000 7000

Max Rated Power

(Hp)

.30 1.19

• Kollmorgen Servos• Worm Gearbox

• Allows perpendicular rotation with servos

Shielding

Needs

Protection from

Radiation

Ballistics such as micrometeorites

Strong

Lightweight

Inexpensive

Easy to form

Shielding

Polyethylene (plastic)

Chemical formula (C2H4)n

High hydrogen content protects from radiation

Fabric

Can bend easily in a thin sheet

Many layers formed together create a strong block

Easy to mold

Cheap ($0.59/lb)

Great as a ballistic shield

Shielding

• "Since it is a ballistic shield, it also deflects micrometeorites, since it's a fabric, it can be draped around molds and shaped into specific spacecraft components.” -Raj Kaul

Control System

Functions like human hand

Made out of molded plastic

Dimensions fully extended:

Length and height of the astronauts forearm

Has side to side range of semi-circle

There will be 2

Control System

Physical Components

Base

L Hooks

Potentiometers

Finger U’s

Non-Physical (Software)

ServoCommander

AnalogReader

Conclusion

meets requirements

Robotic arm

Paladium-Silver glass alloy structure

Polyethylene coating

1:1 functioning manipulator

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