Analysis of Grasp Requirements for Telerobotic Satellite Servicing

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dc.contributor.advisorAkin, David Len_US
dc.contributor.authorPilotte, Kristinen_US
dc.contributor.departmentAerospace Engineeringen_US
dc.contributor.publisherDigital Repository at the University of Marylanden_US
dc.contributor.publisherUniversity of Maryland (College Park, Md.)en_US
dc.date.accessioned2005-02-02T06:51:34Z
dc.date.available2005-02-02T06:51:34Z
dc.date.issued2004-12-07en_US
dc.description.abstractThere is an established need to service satellites while on-orbit. Teleoperated robots may conduct this servicing, if the grasps required to perform these tasks are identified and understood. By studying Hubble Space Telescope Servicing Mission 3B, the human grasps used for servicing satellites are identified. Based on the human grasps, a robotic grasp taxonomy is developed. The grasps required for robotic satellite servicing are described in this study in terms of end-effector requirements. Also presented is the relative use of each end-effector. In order to apply the findings here for Servicing Mission 3B to general satellite servicing mission, a task analysis is presented. This displays the end-effector requirements for each type of task performed, which may be applied to similar tasks on future servicing missions.en_US
dc.format.extent2518993 bytes
dc.format.mimetypeapplication/pdf
dc.identifier.urihttp://hdl.handle.net/1903/2135
dc.language.isoen_US
dc.subject.pqcontrolledEngineering, Aerospaceen_US
dc.subject.pqcontrolledEngineering, Biomedicalen_US
dc.subject.pquncontrolledroboten_US
dc.subject.pquncontrolleddexterityen_US
dc.subject.pquncontrolledgraspen_US
dc.subject.pquncontrolledHubble Space Telescopeen_US
dc.subject.pquncontrolledrobotic grasp taxonomyen_US
dc.subject.pquncontrolledteleoperated roboten_US
dc.titleAnalysis of Grasp Requirements for Telerobotic Satellite Servicingen_US
dc.typeThesisen_US

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