Space spider crane

摘要

A space spider crane for the movement, placement, and or assembly of various components on or in the vicinity of a space structure is described. As permanent space structures are utilized by the space program, a means will be required to transport cargo and perform various repair tasks. A space spider crane comprising a small central body with attached manipulators and legs fulfills this requirement. The manipulators may be equipped with constant pressure gripping end effectors or tools to accomplish various repair tasks. The legs are also equipped with constant pressure gripping end effectors to grip the space structure. Control of the space spider crane may be achieved either by computer software or a remotely situated human operator, who maintains visual contact via television cameras mounted on the space spider crane. One possible walking program consists of a parallel motion walking program whereby the small central body alternatively leans forward and backward relative to end effectors.