Experimental Investigation of Dextrous Robots Using EVA Tools and Interfaces

摘要

This investigation of robot capabilities with extravehicular activity (EVA) equipment looks at how improvements in dexterity are enabling robots to perform tasks once thought to be beyond machines. The approach is qualitative, using the Robonaut system at the Johnson Space Center (JSC), performing task trials that offer a quick look at this system's high degree of dexterity and the demands of EVA. Specific EVA tools attempted include tether hooks, power torque tools, and rock scoops, as well as conventional tools like scissors, wire strippers, forceps, and wrenches. More complex EVA equipment was also studied, with more complete tasks that mix tools, EVA hand rails, tethers, tools boxes, PIP pins, and EVA electrical connectors. These task trials have been ongoing over an 18 month period, as the Robonaut system evolved to its current 43 degree of freedom (DOF) configuration, soon to expand to over 50. In each case, the number of teleoperators is reported, with rough numbers of attempts and their experience level, with a subjective difficulty rating assigned to each piece of EVA equipment and function. JSC' s Robonaut system was successful with all attempted EVA hardware, suggesting new options for human and robot teams working together in space.