Charles Andrew Mercer

US Patent:

20130305867, Nov 21, 2013

Filed:

Apr 17, 2013

Appl. No.:

13/864396

Inventors:

John T. Dorsey - Hampton VA, US
George G. Ganoe - Yorktown VA, US
Bruce D. King - Yorktown VA, US
Thomas C. Jones - Newport News VA, US
Charles D. Mercer - Chesapeake VA, US
Cole K. Corbin - Williamsburg VA, US

International Classification:

B25J 18/00
B25J 17/00

US Classification:

7449004, 7449005

Abstract:

A tension stiffened and tendon actuated manipulator is provided performing robotic-like movements when acquiring a payload. The manipulator design can be adapted for use in-space, lunar or other planetary installations as it is readily configurable for acquiring and precisely manipulating a payload in both a zero-g environment and in an environment with a gravity field. The manipulator includes a plurality of link arms, a hinge connecting adjacent link arms together to allow the adjacent link arms to rotate relative to each other and a cable actuation and tensioning system provided between adjacent link arms. The cable actuation and tensioning system includes a spreader arm and a plurality of driven and non-driven elements attached to the link arms and the spreader arm. At least one cable is routed around the driven and non-driven elements for actuating the hinge.

US Patent:

20160107321, Apr 21, 2016

Filed:

Oct 26, 2015

Appl. No.:

14/922488

Inventors:

- Washington DC, US
John T. Dorsey - Hampton VA, US
George G. Ganoe - Yorktown VA, US
Bruce D. King - Yorktown VA, US
Thomas C. Jones - Newport News VA, US
Charles D. Mercer - Chesapeake VA, US
Cole K. Corbin - Williamsburg VA, US

International Classification:

B25J 17/00

Abstract:

A tension stiffened and tendon actuated manipulator is provided performing robotic-like movements when acquiring a payload. The manipulator design can be adapted for use in-space, lunar or other planetary installations as it is readily configurable for acquiring and precisely manipulating a payload in both a zero-g environment and in an environment with a gravity field. The manipulator includes a plurality of link arms, a hinge connecting adjacent link arms together to allow the adjacent link arms to rotate relative to each other and a cable actuation and tensioning system provided between adjacent link arms. The cable actuation and tensioning system includes a spreader arm and a plurality of driven and non-driven elements attached to the link aims and the spreader arm. At least one cable is routed around the driven and non-driven elements for actuating the hinge.