1993-07-01

Hardware Design for Joint EVA and Telerobotic Compatibility 932222

This paper details results of EVA/telerobotic neutral buoyancy testing conducted by McDonnell Douglas Aerospace under Independent Research and Development Project 12-201, “EVA/Telerobotic Systems and Operations.” Hardware compatibility guidelines will be discussed with reference to test results from EVA and telerobot interface evaluations. Specific hardware evaluations include (1) all three Space Station approved standard grasp interfaces specified in the Robotic Systems Integration Standards; (2) Avibank Strut-Lok truss strut connector; (3) NASA Lewis Solar Dynamic Latch; and (4) Oceaneering Space Systems Latchbolt. General compatibility guidelines will be generated based on the characteristics of EVA and telerobot interactions with these specific hardware interfaces. Generalized guidelines will include a comparison of EVA and telerobot compatibility parameters for misalignment tolerance, force and torque output, viewing considerations, worksite positioning, and work system interaction.
The guidelines in this paper are meant to provide space hardware designers with methods to make their hardware compatible with both EVA and telerobotics, thereby increasing ease of operation and minimizing the cost of hardware and operations.

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