Rebecca L Kinkead

US Patent:

47385839, Apr 19, 1988

Filed:

Sep 30, 1986

Appl. No.:

6/913432

Inventors:

Ian O. Macconochie - Yorktown VA
Martin M. Mikulas - Poquoson VA
Jack E. Pennington - Yorktown VA
Rebecca L. Kinkead - Christiansburg VA
Charles F. Bryan - Poquoson VA

Assignee:

The United States of America as represented by the Administrator of the
National Aeronautics and Space Administration - Washington DC

International Classification:

B66C 300

US Classification:

414735

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.