Robotic surrogate: work in progress

Abstract

Development of anthrobotic mechanisms that closely reproduce the human body's dexterity is vital for performing tasks in unstructured environments. Space Station construction and maintenance require arms and hands that can take the place of human astronauts in the harsh environment of outer space. Construction of lunar and Mars bases in preparation for astronaut occupation is another suggested application. At present, research based and commercially available arms have limited degrees-of-freedom, singularities, or mechanical shortcomings due to inadequate joint and actuator designs. The mechanical design for a new ten degree-of-freedom robotic surrogate is outlined in this paper. The robotic surrogate is a new design that utilizes advanced joint and actuator technology to create a singularity-free mechanism. A new anthropomorphic twelve degree-of-freedom hand with wrist is also presented. These designs anticipate a practical device that can perform any physical task currently performed by an astronaut.