Threaded Pin-Lock Retaining Ring

The Gripper is located at the end of a robotic system consisting of a robotic arm equipped with a Tool Drive or End Effector comprising the input actuator to the Gripper as well as the structural, power and data link between the Gripper and the robotic arm. In a notional concept of operations, a Servicer would approach the Client in an autonomous rendezvous and capture (AR&C) maneuver. When the Servicers sensor suite confirms that the distance, orientation, and relative translational and angular rates with respect to the Client are within an acceptable range, the Servicer enables the grasping sequence, where the robotic arm, equipped with Gripper, extend forward to the Client. When the Gripper/ Servicer sensors indicate that the Client marman ring is sufficiently within the capture range of the Gripper, a trigger signal is sent to the robot control system that commands the End Effector to drive the mechanism of the Gripper and affect closure around the marman ring. The Gripper consists of a pair of jaws which are driven by an internal transmission. The transmission receives input torque from the End Effector and converts the torque to appropriate motion of the jaws.

The androgynous fastener is lightweight and facilitates assembly through simple actuation with large driver-positioning tolerance requirements. This fastener provides a high-strength, reversible mechanical connection and may be used in high strength-to-weight ratio structural systems, such as lattice structure systems. The androgynous fastener resists tensile and shear forces upon loading of the lattice structure system thereby ensuring that the struts of the lattice structure system govern the mechanical behavior of the system. The androgynous fastener eliminates building-block orientation requirements and allows assembly in all orthogonal build directions. This androgynous fastener may be captive in building-block structural elements thereby minimizing the logistical complexity of transporting additional fasteners. Integration of a plurality of the androgynous fasteners into a high performance, robotically managed, structural system reduces launch energy requirements, enables higher mission adaptivity and decreases system life-cycle costs. The androgynous fastener is beneficial in any application where robotic end effectors are used to join structural components (or other parts) together. It may be particularly desirable for applications requiring frequent movement of hardware to an assembly site to replace joint connections.

Dusty, dirty environments can be very tough on connectors. The abrasive nature of dust and dirt particles can rub and wear down connector surfaces through friction, and have a negative effect on coatings used on gaskets to seal equipment. Dust on umbilical connections can also make mating and de-mating electrical and fluid connections difficult, hazardous, and unreliable. NASA's Quick Disconnect (QD) design consists of columnar arrays of parallel filaments. All the pins of the electrical connector easily penetrate the barriers when the umbilicals are brought together. They are wiped clean of dust when they penetrate the barrier and mate cleanly and reliably. Likewise, the male end of a fluid connector penetrates the filament arrays of both connector ends. Since the filament arrays are oriented perpendicular to each other, the entire circumference of the connector is contacted by the filaments that stretch around, conform to, and sweep off dust from the mating surface ensuring a clean and secure connection.

Dusty, dirty environments can be very tough on connectors. The abrasive nature of dust and dirt particles can rub and wear down connector surfaces through friction, and have a negative effect on coatings used on gaskets to seal equipment. Dust on umbilical connections can also make mating and de-mating electrical and fluid connections difficult, hazardous, and unreliable. NASA's Quick Disconnect (QD) design uses the gas supplied by the umbilical to spray the connector surfaces prior to mating to remove dust and debris. The QD uses a novel dual-poppet design and springs that balance forces on umbilical components. This allows a controlled release of gas to clear away dust from the end of the connector before it it inserted in the supply umbilical. The connector assembly is capable of mating and de-mating under 3500 psi fluid/gas. One poppet seals the QD while de-mated and automatically cleans the front surface of the QD during mating. A second poppet seals the QD while de-mated and automatically cleans the cylindrical surface of the QD during mating. The internal cavity of the QD is specifically designed such that the pressure in the line is reduced from 3500 psi to 450 psi while surface cleaning occurs. Finally, all exterior connector surfaces are designed to minimize the entrapment of dust while in the de-mated position.

NASA Langley developed the LSMS because of the need for a versatile system capable of performing multiple functions on the lunar surface, such as unloading components from a lander, transporting components to an operational site and installing them, and supporting service and replacement during component life. Current devices used for in-space operations are designed to work on orbit (zero g) only and thus do not have sufficient strength to operate on planetary surfaces. Traditional cranes are specialized to the task of lifting and are not capable of manipulator-type positioning operations. The innovations incorporated into the LSMS allow it to lower payloads to the ground over a significant portion of the workspace without use of a hoist, functioning like a robot manipulator, thus providing a rigid connection and very precise control of the payload. The LSMS uses a truss architecture with pure compression and tension members to achieve a lightweight design. The innovation of using multiple spreaders (like spokes in a wheel) allows the LSMS to maintain its high structural efficiency throughout its full range of motion. Rod portions of the tension members automatically lift off and re-engage the spreaders as the joint articulates, allowing a large range of motion while maintaining mechanical advantage. In addition, the LSMS uses a quick-change device at the tip end that enables automated acquisition of end effectors or special purpose tools to increase its versatility.