The mobile remote manipulator system (MRMS) was initially developed for transit about the trusses of the delta space station; however, it can be utilized just as easily for transit about the trusses of the dual keel station. The MRMS is comprised of a mobile platform B having a rail system formed of transversely disposed T-shaped tracks, which engage with guide pins located at the nodes of the trusses. The guide pins form a grid and the tracks are so designed as to permit travel in either of two orthogonal directions. For travel the MRMS is provided with retractable, reversible chain drive systems, which selectively engage sprockets on the guide pins for either longitudinal or transverse travel. The MRMS is also provided with direction changing means at the intersection of the track systems to change from longitudinal to transverse travel. The MRMS provides a near-uniform traversing velocity with minimal dynamic loading on the system.


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    Title :

    Mobile Remote Manipulator System for a Tetrahedral Truss


    Contributors:

    Publication date :

    1986


    Size :

    25 pages


    Type of media :

    Report


    Type of material :

    No indication


    Language :

    English




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