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Rod gripper, changer, and storage systemA rod changer and storage design is presented for the lunar deep drill apparatus to be used in conjunction with the Skitter walking platform. The design must take into account all of the lunar environment and working conditions. Some of these are: (1) the moon has one sixth the gravity of earth; (2) temperature gradients can range from about -170 to 265 C; (3) because of the high transportation costs, the design must be as light as possible; and (4) the process must be remotely operated (from earth or satellite) and must be automated. Because of Skitter's multiple degree of freedom movement, the design will utilize Skitter's movement to locate an implement and transport it from the rack to the drill string. The implement will be gripped by a thumb and two finger device, identified through an electronic sensing device on the thumb, and transported from the rack to the footplate and back from the footplate to the rack. The major designs discussed in this report have been broken down into three major areas: (1) gripper design (linear transport mechanism); (2) indexing system; and (3) rack design.
Document ID
19900014423
Acquisition Source
Legacy CDMS
Document Type
Contractor Report (CR)
Authors
Benson, Mark (Georgia Inst. of Tech. Atlanta, GA, United States)
Demi, Todd (Georgia Inst. of Tech. Atlanta, GA, United States)
Mcneill, Robert (Georgia Inst. of Tech. Atlanta, GA, United States)
Waldo, Keith (Georgia Inst. of Tech. Atlanta, GA, United States)
Afghan, Alex (Georgia Inst. of Tech. Atlanta, GA, United States)
Oliver, Jim (Georgia Inst. of Tech. Atlanta, GA, United States)
Date Acquired
September 6, 2013
Publication Date
March 8, 1989
Subject Category
Mechanical Engineering
Report/Patent Number
ME-4182
NAS 1.26:183154
NASA-CR-183154
Accession Number
90N23739
Funding Number(s)
CONTRACT_GRANT: NGT-21-002-800
Distribution Limits
Public
Copyright
Work of the US Gov. Public Use Permitted.

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