Space spider crane

Details Space spider crane Space spider crane

1986-09-30

1988-04-19

Paperner, L. J.

Material or article handling

Vertically swinging load support

Grab

414750, 901 1, 901 33, 180 86, B66C 300

Patent

active

047385839

ABSTRACT:
A space spider crane 15 is provided for the movement, placement, and/or assembly of various components on or in the vicinity of a space structure 120. Space spider crane 15 is comprised of a small central body 16 to which manipulators 24 and legs 25 are attached. The legs 25 are equipped with constant pressure gripping end effectors 29 to safely grip space structure 120. Walking by legs 25 or repairing and placing by the manipulators 24 may be controlled either by computer software 140 or a remotely situated human operator 135, who maintains visual contact with the space spider crane via television cameras 22 located at strategic positions on space spider crane 15. One possible walking program consists of a parallel motion walking program that results in small central body 16 alternatively leaning forward and backward relative to end effectors 29.

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