Ranger: Upgrading Dexterous Space Teleoperator Capabilities by Incorporating Commercial Off-the-Shelf Components

摘要

Ranger is a system of dexterous manipulators designed for satellite servicing uniquely capable of operating in both a laboratory setting and in a neutral buoyancy environment. Due to the modular design of Ranger, it can be easily reconfigured to mimic other dexterous space manipulators, allowing it to perform ground-based verification for various robotic servicing missions, such as Restore-L being developed by NASAs Goddard Space Flight Center. This paper focuses on the new capabilities of the Ranger systems with modern upgrades, along with presenting rationale for the design choices.