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THE CATHOLIC UNIVERSITY OF AMERICA DEPARTMENT OF ELECTRICAL ENGINEERING

REPORT SUMMARY This semiannual report presents the results obtained from the research grant "A Study of Space-Rated Connectors Using A Robot End-Effector," sponsored by the Goddard Space Flight Center (NASA), for the period between September I, 1991 and February 29, 1992. This report deals with testing of a pair of robot fingers designed for the Flight Telerobot Servicer (FTS) to grasp a cylinder type of Orbital Replaceable Unit (ORU) interface. The report first presents the objectives of the study and then describes the testbed consisting of a Stewart Platform-based manipulator equipped with a passive compliant platform which also serves as a force/torque sensor. Kinematic analysis is then performed to provide a closed-form solution for the force inverse kinematics and iterative solution for the force forward kinematics using the Newton's Raphson Method. Mathematical expressions are then derived to compute forces/torques applied to the FTS fingers during the mating//demating with the interface. After that, the report presents the results of the experimental study conducted to investigate the characteristics and feasibility of the fingers. The experimental study is composed of three parts. The first part is devoted to obtain data of forces applied by the finger to the interfaces under various translational and rotational misalignments, the second part to determine the maximum allowed capture angles to ensure successful mating, and the third part to process and interpret the obtained forees/torques data.