Other
Scientific paper
Jul 2005
adsabs.harvard.edu/cgi-bin/nph-data_query?bibcode=2005esasp.591..271k&link_type=abstract
In: Proceedings of the 11th European Space Mechanisms and Tribology Symposium, ESMATS 2005, 21-23 September 2005, Lucerne, Switz
Other
Mechanisms Components
Scientific paper
In the frame of the Compact Automatic Tool Exchange Device (CATED-projetc), a mechanism has been designed by Dutch Space B.V. Its purpose is to automatically connect, mechanically and electrically, any tool to the end of a robot arm. The work was done under Dutch Space B.V. funding/activity as part of proposal activities for the ESA's CATED project. This paper will deal with the requirements for this type of mechanism. Next the mechanical design will be presented, including the connector mating process. Then a short justification of the favored design of the Tool Exchange Device (TED) is given and finally other options for furture use of the TED concept are briefly discussed. The paper will show that the TED-concept was the result of two design drivers: 1. Automatic mating/de-mating by a robot arm. 2. Perfect connector alignment before insertion. The most interesting advantages of the presented design are: It is simple, hence robust. It generates relatively high forces and torques are required for alignment and pretension. It provides fast mating and de-mating. It has a large capture-range.
Kester J. A. N. G.
Visser Matt
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