Ranger Robotics Program
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Ranger Robotics Program |
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Visit the
Ranger Neutral Buoyancy Vehicle II Project Photo Archives
and the
NBRF 2003 Digital Photo Archives
for additional photos of the Ranger manipulators coming together and being tested.
Directions to the Engineering Research Building
2 June 2003
(update by Walt Smith and Stephen Roderick)
In a simulation of the ability of two Ranger dexterous arms to work together, the engineering arm and the right dexterous arm were used to pass a handhold from one arm to another and back again.
One of the tasks planned for the next Hubble Space Telescope (HST) servicing mission is the changeout of one of HST's three Fine Guidance Sensors (FGS). After a handhold is installed on the FGS by the astronauts, the handhold is used to guide the FGS along guide rails and out of the telescope. The handhold is stowed on a fixture in the cargo bay of the shuttle.
The following pictures and video show the Ranger engineering and right dexterous arms passing the handhold between both arms and back again. The video is at three times the normal speed.
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Video (click on the picture to start the video) |
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2 June 2003
(update by Walt Smith, Brian Roberts, and Stephen Roderick)
The following pictures and video show the engineering arm picking up and moving a simulated Rate Sensor Unit. The video is at three times the normal speed.
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Video (click on the picture to start the video) |
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22 May 2003
(update by Brian Roberts)
Four of the undergraduate students that are working on Ranger graduated today. Before they left for graduation, we presented them with a framed picture (see the update from the 7th of May) of most of the Ranger team underwater with the positioning leg. Pictured below from left to right are Wendy Frank, Eric Rodriguez, Meghan Baker, and Andrew Long. We wish them all luck as they start the next phase of their lives.
Click on the picture for a larger image (740K)
22 May 2003
(update by Brian Roberts, Stephen Roderick, and Walt Smith)
In a simulation of the ability of Ranger to assist astronauts servicing the Hubble Space Telescope, the right dexterous arm was used to move around a Fine Guidance Sensor (FGS) handhold.
One of the tasks planned for the next Hubble Space Telescope (HST) servicing mission is the changeout of one of HST's three FGSs. After a handhold is installed on the FGS by the astronauts, the handhold is used to guide the FGS along guide rails and out of the telescope. The FGS is then temporarily stowed on the aft fixture.
The following video show the Ranger right dexterous arm playing the role of the aft fixture. The video is at three times the normal speed.
Click on the picture to start the video (1.9M QuickTime)
7 May 2003
(update by Brian Roberts)
The Ranger team took a break from a busy few weeks of demonstrations to pose with the positioning leg underwater at the Neutral Buoyancy Research Facility. Pictured from left to right in the front row is Jean-Marc Henriette, Wendy Frank, and Eric Rodriguez. In the back row from left to right, Meghan Baker, Andrew Long, Walt Smith, Brian Roberts, and Dave Akin. Stephen Roderick is hovering above the robot. Not pictured are Kevin Eisenhower, John Mularski, Kristin Pilotte, Mike Perna, and Brook Sullivan.
Click on the picture for a larger image (2.5M)
28 April 2003
(update by Brian Roberts)
With the engineering and right dexterous arms together on the test stand, both arms were video taped during operation (click on the pictures to start the videos).
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Separate The engineering arm and the right arm were each
controlled from different control stations by two separate operators
using two separate pairs on hand controllers. |
Together The engineering arm and the right arm were controlled
from the same control station using the same pair of hand controllers. |
DXR repair This video clip shows the engineering arm using a bare bolt drive to start removing the bolt that helps to hold the right elbow to the right shoulder. If you are interested in what would happen next, take a look at the video of the removal of the elbow from the right arm filmed late last year. |
26 April 2003
(update by Brian Roberts)
Since November of 2002, progress has been made on getting the positioning leg (PXL), head, body, and boresight stereo video cameras in the water so that evaluation of the operation of Ranger in a simulated weightless environment could begin. Since that time, 15 dives have been conducted with over 17 hours of water time to get the system operational. This work culminated with the unveiling of the PXL, head, body, and boresight video camera at the campus-wide Maryland Day open house. During the open house, over 100 people ranging in ages from 2 to 80 controlled the system while it was in the water for an hour and a half.
Here is a partial list of what has been accomplished with the PXL:
Below is a picture of the PXL in the water as well as some video clips of the motion underwater.
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Photo (click on the pictures for larger images) |
Videos (click on the picture to start the video) |
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Take a look at the video of the PXL coming together from the ground up late last year.
23 April 2003
(update by Eric Rodriguez and Wendy Frank)
Two undergrads who are members of the Ranger team presented their work at this year's campus Undergraduate Research Day. Eric Rodriguez and Wendy Frank presented their independent research project on the determination of the natural frequency of the Ranger positioning leg.
11 April 2003
(update by Eric Rodriguez, Wendy Frank, and Meghan Baker)
Three undergrads who are members of the Ranger team presented their work at this year's AIAA Midatlantic Regional Student Conference held on the University of Maryland Campus.
Eric Rodriguez and Wendy Frank presented their independent research project on the determination of the natural frequency of the Ranger positioning leg. A copy of Eric and Wendy's paper is available in the SSL Online Publications Database.
Meghan Baker presented her spring 2002 honors research project on the analysis she conducted of using Ranger to assist the astronauts with the servicing of the Hubble Space Telescope. A copy of Meghan's paper is available in the SSL Online Publications Database.
31 October 2002
(update by Brian Roberts)
The Ranger engineering arm was highlighted on NASA's Robotics Education Project website The NASA Robotics Education Project (REP) is dedicated to encouraging people to become involved in science and engineering, particularly robotics. REP works to capture the educational potential of NASA's robotics missions by supporting educational robotics competitions and events, facilitating robotics curriculum enhancements at all educational levels, and maintaining a web site clearinghouse of robotics education information.
15 October 2002
(update by Brian Roberts)
In a simulation of the ability of Ranger to help service itself in space, the engineering arm was used to loosen the bolt that helps hold the right elbow to the right shoulder. A person, simulating the motion of an astronaut, was then able to pull the elbow free from the shoulder. This process is shown in the video clip below.
15 October 2002
(update by Brian Roberts)
One of the tasks planned for the next Hubble Space Telescope (HST) servicing mission is the changeout of one of HST's three fine guidance sensors (FGS). After a handhold is installed on the FGS by the astronauts, the handhold is used to guide the FGS along guide rails and out of the telescope. The FGS is then temporarily stowed on the aft fixture. The following photos and video show a handoff of the FGS handhold from a simulated astronaut to Ranger and back again.
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Photos (click on the picture for a larger image) |
Video (click on the picture to start the video) |
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11 October 2002
(update by Jean-Marc Henriette)
The shoulder and elbow of the right dexterous arm moved today for the first time using 1553. After some small configuration issues, all DOFs where moved under power with no problems. Props go to Kiwi for building reliable software, and Wendy for nice soldering.
Click on the picture to start the video (3.2M QuickTime)
8 October 2002
(update by Stephen Roderick)
An inexperienced user changed their first electronics control unit (ECU) today, in under 18 minutes. This did not include an end effector changeout, but did accomplish the traversal time for one changeout. Not bad for a beginner. Below is a picture taken during the task.
Click on the picture for a larger image (790K)
1 August 2002
(update by Brian Roberts)
Below is a short video showing all six joints of the positioning leg being put together and a photo of the entire assembly. The video is at five times the normal speed.
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31 July 2002
(update by Walt Smith)
The positioning leg (PXL) moved today under 1553 in joint-by-joint control. We have the joints laying on their sides right now but we will soon have the whole assembly put together on the pallet floor support structure (PFSS). So far the joints seem to behaving well having gone through a scaled back wear-in cycle. The next step is to assemble all the sections of the PXL together and operate the system under Craig's controller. After that, slap on the head/arm assembly and go for a swim. A video of each joint being actuated is below.
Special thanks to Wendy for doing allot of the soldering and electronics assembly; to Jean-Marc for figuring out connectors, routing wires, setting up testing, figuring out encoder problems, etc. and to Stephen for getting the controller computer to talk to the hardware. The graphical simulation needs a little tweaking, but it was pretty close to reality.
Click on the picture to start the video (1.4M QuickTime)
19 July 2002
(update by Brian Roberts)
Congressman Rohrabacher visited the Space Systems Laboratory and had a chance to operate the Ranger engineering arm. Below are a few pictures taken during his visit.
Click on the picture for larger image (891K) |
Click on the picture for larger image (899K) |
5 July 2002
(update by Brian Roberts)
One of the tasks planned for the next Hubble Space Telescope (HST) servicing mission is the changeout of one of HST's three fine guidance sensors (FGS). After a handhold is installed on the FGS by the astronauts, the handhold is used to guide the FGS along guide rails and out of the telescope. The FGS is then temporarily stowed on the aft fixture. The following photos and video show the Ranger engineering arm playing the role of the aft fixture.
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Video (click on the picture to start the video) |
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Another task planned for the HST servicing mission is the replacement of the wide field/planetary camera 2 (WFPC2) with a new wide field camera 3 (WFC3). The WFPC handhold is installed on the new camera before it is removed from its protective enclosure in the cargo by of the shuttle. The following photos and video show the Ranger engineering arm grasping and moving the WFPC handhold.
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Photos (click on the picture for a larger image) |
Video (click on the picture to start the video) |
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Engineering Research Building (near the
College Park Airport)
1 July 2002
6:00 - 8:00p m
(update by Dr. Russ Howard)
You are invited
to a demonstration of the Ranger robot manipulator arm
Monday, July 1 from 6:00 - 8:00 pm.
The location will be in Suite 4105 of the Engineering Research Building at the University of Maryland, College Park.
Ranger is a remotely-controlled robot designed for servicing satellites in space. In flight configuration, it would have four manipulator arms. At present, one arm is fully functional in the laboratory.
This occasion is a chance for the Ranger development team to show off the fruits of their labors to family, friends and interested bystanders.
Click for directions to the Engineering Research Building or the official invitation. (100K PDF)
28 June 2002
(update by Brian Roberts, and Drs. Russ Howard and Craig Carignan)
The team has put together a specification sheet on the Ranger dexterous manipulator. Click on the picture below to load the specification sheet.
Click on the picture to load the specification sheet (1.9M PDF)
10 June 2002
(copy courtesy of Robert Renshaw of Payload Systems Inc.)
Click on the picture for a larger image (378K)
23 May 2002
(update by Brian Roberts)
An attempt was made to perform portions of the removal and replacement of a Hubble Space Telescope (HST) electronics control unit (ECU).
Three ECUs are found on the Telescope as part of the rate gyro assembly. Each ECU enclosure measures 11" x 9" x 7.5" and the unit weighs 17.4 pounds. The ECU is secured inside HST by four keyway slot bolts and one connector drive mechanism. Removal of the ECU is accomplished by backing off these bolts six turns, unfastening the connector drive mechanism on the bottom of the ECU, and maneuvering the ECU off of the keyway slot bolts. The replacement ECU is then installed into its mounting position on the keyway bolts and the connector drive mechanism is fastened. The four keyway bolts are then tightened to approximately 5 ft-lbf. EVA tether loops are provided for retention during on-orbit change out. Two ECUs were replaced on HST during a visit by astronauts during the first servicing mission in December of 1993.
Below are pictures of the Ranger engineering arm performing parts of the ECU removal task and an estimate of how long that part of the task would take. First, the arm (without an end effector) moves back to get the bare bolt drive which is mounted on a tool post. Once the wrist docks with the bare bolt drive, the wrist rolls to remove the bare bolt drive from the tool post. With the bare bolt drive attached to its wrist, the arm moves to one of the ECU keyway slot bolts. After turning the bolt, the arm moves away from the bolt, moves to another bolt, turns it, and repeats the process for the two remaining bolts. The arm then docks with a tool post which allows the removal of the bare bolt drive. The wrist moves to another tool post, "docks" with the right angle drive, and after the wrist rolls to attach the right angle drive to the wrist, the arm moves to the connector drive mechanism at the bottom of the ECU. While this is happening, a second arm would move to a third tool post to remove the tether loop gripper. After the "fingers" of the tether loop close around the tether loop on the ECU, the right angle drive on the other arm drives the connector drive mechanism which starts to lift the ECU out of its fixture.
A video of parts of this task appears below under the May 10th update.
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Attach bare bolt drive to arm | 2:00 |
| Move arm (with bare bolt drive) to ECU | 0:55 | |
| Place bare bolt drive on lower left bolt | 0:51 | |
| Turn lower left bolt 6 times | 0:48 | |
| Move arm from lower left bolt to upper left bolt | 0:51 | |
| Turn upper left bolt 6 times | 0:48 | |
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Move arm from upper left bolt to upper right bolt | 1:13 |
| Turn upper right bolt 6 times | 0:48 | |
| Move arm from upper right bolt to lower right bolt | 0:59 | |
| Turn lower right bolt 6 times | 0:48 | |
| Move arm from lower right bolt to tool post | 1:10 | |
| Attach right angle drive to arm | 2:00 | |
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(Attach tether loop gripper to other arm) | 2:00 |
| Move arm (with right angle drive) to connector drive mechanism | 0:57 | |
| Close tether loop gripper on tether loop | 0:28 | |
| Place right angle drive on connector drive mechanism | 0:39 | |
| Unfasten connector drive mechanism to lift ECU | 0:20 | |
| (Open tether loop gripper from tether loop) | (0:12) | |
| Total time | 17:35 |
15 May 2002
(update by Dr. Craig Carignan, Dr. Corde Lane, and Brian Roberts)
Two papers were presented at the 2002 IEEE International Conference on Robotics and Automation that was held in Washington, DC the 11th through the 15th of May. The first paper, "Effects of Time Delay on Telerobotic Control of Neutral Buoyancy Vehicles," (abstract, paper (1.2M PDF)) was presented by Dr. Corde Lane. The paper was written by Dr. Lane, Dr. Craig Carignan, Brook Sullivan, Dr. David Akin, Teresa Hunt, and Rob Cohen. The presentation (presentation (3.9M PDF)) included four video clips which appear below (click on the pictures to start the videos).
Manipulation task - replacement box change out This video clip shows two experienced test subjects using Ranger Neutral Buoyancy Vehicle I to perform insertions and extractions of the orbital replacement unit fluids box with 0 and 3 second time delay. |
Peg and hole simulation This video shows a subject successfully compensating for the largest fixed error treatment. Although the fixed error can cause large deviations between the commanded and actual displays, that deviation does not change. Therefore, the subjects were able to learn how to compensate and complete the peg-in-hole task with minimal extra effort, even with a three second time delay. |
Simulation future work The new graphical simulation uses higher fidelity texture mapping to produce a more realistic virtual environment. These simulations will allow testing with multiple arms. The smaller window in this video clip shows the simulated camera output from the video manipulator. Here the operator controls both the video manipulator and the dexterous manipulator to extract a mock-up of the Hubble Space Telescope electronics control unit. Towards the end of the clip, tracking mode is used by the operator to allow the video arm to follow the dexterous arm. |
Ranger II Operations An experienced operator control the dexterous manipulator using two three degree of freedom hand controllers. This new 8-DOF manipulator will allow the study of performing tasks with time delay. |
The second paper, "A Skew-Axis Design for a 4-Joint Revolute Wrist," (abstract, paper (1.2M PDF)) was written by Drs. Carignan and Howard. The presentation (presentation (3.4M PDF)) included five video clips that appear below (click on the pictures to start the videos).
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Inverse kinematics modes |
Joint limit avoidance |
Singularity avoidance (simulation) |
Singularity avoidance (experiment) |
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This video clip exhibits roll, pitch, and yaw motion for two inverse kinematics modes for the wrist. The first mode is 4-DOF control with self-motion. It uses a generalized pseudoinverse method with a self-motion component for avoiding singularities and joint limits. The second mode uses 3-DOF control with independent hand roll. It uses an extended jacobian technique to control tool tip orientation using the first three joint axes and hand roll using a separate command. |
The beginning of the clip shows the arm operating with the 3-degree of freedom (DOF) wrist controller. The arm stops as it hits its yaw limit. After the arm moves away, the 4-DOF wrist controller is turned on causing the pitch housing to be rolled out of the way (without any input from the operator and without the tip of the tool moving). The arm is no able to "push through" the location where it hit the limit with the 3-DOF wrist controller. |
These clips shows the behavior of the wrist as it nears a Type II singularity where all four joint axes collapse into the wrist roll/pitch plane. The tool axis starts out aligned with the pitch axis so that already the wrist is down to 3 degrees of freedom (Type I singularity). As the operator inputs a rotation about the tool axis, the yaw axis starts rotating around to become aligned with the wrist roll/pitch plane, but the wrist roll (forearm) is rotated away before the yaw axis can reach the plane. |
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15 May 2002
(update by Dr. Russ Howard and Brian Roberts)
Dr. Russ Howard presented a paper, "Design of a Robotic Wrist and Tool-Exchange Mechanism for Satellite Servicing," (paper (3.8M PDF)) at the 36th Aerospace Mechanisms Symposium that was held in Cleveland, Ohio May 14th through the 17th. The presentation (12.4M PDF) included three video clips which appear below (click on the pictures to start the videos).
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Wrist joint motion This clip shows the 4 degrees of
freedom of the wrist (wrist roll, wrist pitch, wrist yaw, hand roll)
being activated followed by the two tool drive (fast and slow).
The wrist camera and LED can also be seen. |
Joint limit avoidance The beginning of the clip shows the arm operating with
the 7-degree of freedom (DOF) controller. The arm stops as it hits
its yaw limit. After the arm moves away, the 8-DOF controller is
turned on causing the pitch housing to be rolled out of the way (without
any input from the operator and without the tip of the tool
moving). The arm is no able to "push through" the
location where it hit the limit with the 7-DOF controller. |
End effector change out (bare bolt drive) This clip shows
the arm (without and end effector) "docking" with the interchangeable end effector
mechanism, performing a hand roll maneuver, which allows the bare bolt drive to be removed from the tool post. |
10 May 2002
(update by Brian Roberts)
An attempt was made to perform portions of the removal and replacement of a Hubble Space Telescope (HST) electronics control unit (ECU). Below is a video clip of the Ranger engineering arm performing parts of the ECU removal task. First the arm (without an end effector) moves back to get the bare bolt drive which is mounted on a tool post. Once the wrist "docks" with the bare bolt drive, the wrist rolls to remove the bare bolt drive from the tool post. With the bare bolt drive attached to its wrist, the arm moves to one of the ECU keyway slot bolts. After turning the bolt, the arm moves away from the bolt and places the bare bolt drive back on a tool post. Once the bare bolt drive is removed, the wrist docks with and retrieves the parallel jaw mechanism which has a set of "fingers" that fit around the tether loop. The "fingers" are closed around the tether loop as the video ends.
Click on the picture to start the video (3.4M QuickTime)
3 May 2002
(update by Brian Roberts)
Below is a short video showing the engineering positioning leg, head, and dexterous arm being put together. The video is at five times the normal speed.
Click on the picture to start the video (4.5M QuickTime)
27 April 2002
(update by Stephen Roderick)
As part of the campus-wide Maryland Day open house, the engineering arm was demonstrated and ran for approximately 8 hours, non-stop, without a hitch. Control and Actuator power were on the entire time, and the CPUs were never rebooted nor did they ever safe themselves. Motor and electronic temperatures never exceeded 85 degrees C.
At least a couple of dozen people operated the arm. Some of the Ranger team, who have zero or very little experience operating robot arms, managed to lock on to a bolt and undo it. It really is not too bad, once you have the right camera views.
We had one (and only one) observed uncommanded motion. It was a cartesian pitch motion occurring while someone was applying various wrist orientation commands. This occurred near the end of the day. No idea why... it was very brief, it undid itself, and never repeated.
Pictures were taken throughout the day and some of them appear below (click on the picture for a larger image).
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The engineering arm with its tether loop gripper attached to the Hubble Space Telescope Electronics Control Unit |
For more photos of the engineering arm in action, check out the Maryland Day 2002 in the Neutral Buoyancy Research Facility photo archive.
Engineering Research Building (near the
College Park Airport)
17 April 2002
3:00 - 5:00p m
(update by Dr. Dave Akin)
You are cordially invited to an open house at the University of Maryland Space Systems Laboratory Space Technology Development Center on Wednesday, April 17th, from 3:00-5:00 pm. The occasion of this event is the completion of the development unit for the Ranger Telerobotic Shuttle Experiment dexterous manipulators. This robotic arm, with eight degrees of freedom and interchangeable end effectors, represents a new state-of-the-art in space flight qualified manipulators; it will be demonstrated in action throughout the open house. Please come join us to celebrate this achievement, and to see the components coming together for the four manipulators that comprise the Ranger Neutral Buoyancy Vehicle II.
The SSL Space Technology Development Center is located on the fourth floor of the University of Maryland Engineering Research Building (previously the Myers Building) next to the College Park Airport. It is only a couple of minutes away from the College Park campus, and easily accessible by car or Metro. Refreshments will be served! Please feel free to contact me for directions, or check the directions below. Also be sure to check out the Space Systems Laboratory web site (http://www.ssl.umd.edu). I hope to see you there!
- Dave Akin
dakin@ssl.umd.edu
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Welcome to the Open House Video
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Open House Brochure
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Pictures were taken throughout the day and some of them appear below (click on the picture for a larger image).
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The EVA Mock-Up greets visitors entering the lobby |
The Ranger Team poses with the engineering PXL and arm
(from left to right: Gardell Gefke, Stephen Roderick,
Marty Devaney, Walt Smith, Eric Rodriguez, Brian Roberts, Dr. Corde
Lane, Andrew Long, Jean-Marc Henriette, Kristin Pilotte, Dr. David Akin,
Dr. Craig Carignan, Steven Weisman, Dr. Russ Howard, and Joe Graves; |
For more photos of the engineering arm in action, check out the Ranger Open House photo archive.
26 March 2002
(update by Brian Roberts)
Three members of the team gave a video conference lecture to a University of North Dakota class on space mission design, The presentation (3.7M PDF) included video clips which are below (click on the picture to start the video).
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Impedance testing of an NBVI arm
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4 DOF NBVII engineering wrist testing
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Test of entire NBVII engineering arm
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Space Systems Laboratory
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NASA/Marshall Space Flight Center Neutral Buoyancy Simulator Operations
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11 March 2002
(update by Dr. Russ Howard)
We are pleased to announce a significant milestone: first operation of a complete Mk. 2 Ranger arm! The shoulder module was mated to the elbow and wrist modules this evening for the first time, and then powered up. We were only able to command one module at a time through a serial cable, but that was sufficient to demonstrate closed-loop control of the three shoulder joints simultaneously. Strength was adequate to handle the rest of the arm at full extension and quite a bit of weight. At about half extension, approximately one JM unit (one JM unit = 160 lbf net weight after lunchtime) could be applied to the end with little deflection.
Thanks to everyone who helped this come together!
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8 March 2002
(update by Brian Roberts)
A test stand was built to hold the engineering positioning leg pitch joint. The leg supports a test head which in turn supports parts of the engineering arm, NBVII arms while they are being tested, or even EVA mock-up arms for demonstration purpose. The picture below shows the engineering shoulder bolted on the robot's right side (left side of the picture), the engineering elbow and wrist bolted to the robot's right side (right side of the picture), and the EVA mock-up video manipulator with the NBVII stereo camera housing.
Click on the picture for a larger image
7 March 2002
(update by Brian Roberts)
As an example of the electronics work that goes into making the arms operate, here is a portion of the process of soldering wires to the backplane. The video is at five times the normal speed.
Click on the picture to start the video (2.7M QuickTime)
1 March 2002
(update by Stephen Roderick)
Today, we successfully ran the wrist and the elbow, along with the rest of the vehicle flat-sat, via the flight code. This included running the joints via both the text and graphical control stations. This was the first time that the elbow was run from the flight code, and it worked out of the box with no changes necessary.
Thanks to Russ and the Electronics Team for giving us well tested and reliable hardware!
Stay tuned for upcoming deliveries: cartesian controller, hand controllers moving joints, and a graphical simulator!
Click on the picture for a larger image
20 February 2002
(update by Brian Roberts)
The engineering elbow and wrist were mounted on an old neutral buoyancy vehicle body that was bolted to the floor for more stability. Pictures and video of the set up are shown below.
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5 February 2002
(copy courtesy of Robert Renshaw of Payload Systems Inc.)
Click on the picture for a larger image (98 K)
31 January 2002
(update by Jean-Marc Henriette)
For the first time in history, a group of Ranger NBVII actuators breathed and moved at the same time. After roughly 30 minutes of run-in testing time, the following things were found to still work:
1553 Channel B/A were apparently sheared off due to excessive rotation of the wrist roll. A video clip of the testing appears below.
Click on the picture to start the video (8.5M QuickTime)
14 November 2001
(update by Brian Roberts)
The Air Force Research Laboratory (AFRL) sponsored an on-orbit servicing workshop at the Aerospace Corporation’s facility in El Segundo, CA. One of our team members attended the workshop and gave a briefing on the capabilities of the robotic systems developed by the Space Systems Laboratory, including Ranger.
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Presentation |
Video |
| 2.4M PDF | |
| 14M Windows Media Player |
Thanks to Dr. Russ Howard and Dr. Craig Carignan for putting together a slide summarizing the evolution of robotic arms in the SSL over the years for the presentation.
9 November 2001
(update by Brian Roberts)
The engineering wrist was run for over 40 hours. Below is a sample of some of the video that was recorded of its operation (click on the pictures below to start the video).
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External view of the wrist operating |
View from the wrist camera |
Simulated orbital replacement unit pass |
28 October 2001
(update by Brian Roberts)
A group from our team wrote a paper describing the status of the Ranger Telerobotic Shuttle Experiment and it was presented at a telemanipulators and telepresence technologies conference in Boston, MA.
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Paper (4570-18) |
Presentation |
Video |
October 2001
(update by Brian Roberts)
The first piece of hardware to be tested was a engineering positioning leg (PXL) pitch joint. The joint was cycled for over 100 hours and video of the testing is shown on the left below. The second piece of hardware to be tested was the engineering wrist. It was also cycled for over 100 hours and video of its testing is shown on the right below.
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(3.8M QuickTime) |
(3.2M QuickTime) |
| Click on the picture to start the video | |
1995 - 2000
As we put together our presentation for the Air Force, we realized that there was some great footage of Ranger NBVI performing tasks over the last couple of years. Check out the Ranger NBV website if you interested in more of what is has accomplished over the years. We hope to repeat some of these tasks with NBVII in the coming months.
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Orbital Replacement Unit Replacement
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Electronics Control Unit task
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Free-fly to grapple at NASA/Marshall Space Flight Center's Neutral Buoyancy Simulator
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Grappling worksite
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Opening door panel |
Payload maneuvering |
Self-maneuver |
Click on the picture to start the video
1996 and 1997
(video courtesy of Dr. Craig Carignan)
Every year, the Space Systems Laboratory presented the status of research projects at an annual Telerobotic Intercenter Working Group get-together sponsored by NASA's Space Telerobotics Program. Below are the videos that the SSL showed in 1996 and 1997, respectively.
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TRIWG 1996 video |
TRIWG 1997 video |
| Click on the picture to start the video | |
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