Multi-digit Sensor-Equipped, Telerobitic End Effector and Wrist

Period of Performance: 06/25/1992 - 10/25/1994

$844K

Phase 2 SBIR

Recipient Firm

Sarcos Research Corp.
360 Wakara Way
Salt lake City, UT 84108
Principal Investigator

Research Topics

Abstract

The current manipulator being used with a remote controlled, unmanned vehicle is not able to carry out a number of essential tasks due to a lack of dexterity. SARCOS will design and produce a hand and wrist assembly that provides a high degree of dexterity by: 1) increasing the number of useful degrees of freedom (DOFs) in the hand to three, 2) making a high mobility wrist with all three rotational axes intersecting, 3) equipping all DOFs with position and load sensors to provide high-fidelity force reflection, 4) making an easy-to-don, comfortable, exoskeletal master to provide a transparent man-machine interface, and 5) implementing advanced intersystem stiffness control algorithms to optimize the operator's control of the slave. The Phase II effort will produce a fully functional prototype and effector and high mobility wrist, complete with a high resolution force reflective master and all the necessary control hardware and software for carrying out tasks in teleoperation mode. Both the master and slave will possess 6 DOFs each. The prototype will be designed to be rugged and yet possess a high level of dexterity, and will therefore be reliable and robust, while being able to perform a wide variety of useful tasks. The slave hand/wrist will be attached to the existing Odetics arm, and will be powered hydraulically to obtain the desired power density requirements. The prototype will be capable of being controlled using both autonomous and teloperation modes.