Positioning leg from the ground up

1 August 2002
(update by Brian Roberts)

Below is a short video showing all six joints of the positioning leg being put together and a photo of the entire assembly. The video is at five times the normal speed.

 


Click on the picture to start the video (3M QuickTime)

PXL-1Aug02.jpg (1137802 bytes)
Click on the picture for a larger image (1.1M)

 

 

 

Positioning leg joint-by-joint motion

31 July 2002
(update by Walt Smith)

The positioning leg (PXL) moved today under 1553 in joint-by-joint control. We have the joints laying on their sides right now but we will soon have the whole assembly put together on the pallet floor support structure (PFSS). So far the joints seem to behaving well having gone through a scaled back wear-in cycle. The next step is to assemble all the sections of the PXL together and operate the system under Craig's controller. After that, slap on the head/arm assembly and go for a swim. A video of each joint being actuated is below.

Special thanks to Wendy for doing allot of the soldering and electronics assembly; to Jean-Marc for figuring out connectors, routing wires, setting up testing, figuring out encoder problems, etc. and to Stephen for getting the controller computer to talk to the hardware. The graphical simulation needs a little tweaking, but it was pretty close to reality.


Click on the picture to start the video (1.4M QuickTime)

 

 

 

Visit by Congressman Rohrabacher

19 July 2002

Congressman Rohrabacher visited the Space Systems Laboratory and had a chance to operate the Ranger engineering arm. Below are a few pictures taken during his visit.

Rohrabacher-19Jul02-1.JPG (912984 bytes)
Click on the picture for larger image (891K)
Rohrabacher-19Jul02-2.JPG (921444 bytes)
Click on the picture for larger image (899K)

 

 

 

Simulated grasp and transport of Hubble Space Telescope Fine Guidance Sensor handhold and Wide Field Planetary Camera handhold

5 July 2002
(update by Brian Roberts)

One of the tasks planned for the next Hubble Space Telescope (HST) servicing mission is the changeout of one of HST's three fine guidance sensors (FGS).  After a handhold is installed on the FGS by the astronauts, the handhold is used to guide the FGS along guide rails and out of the telescope.  The FGS is then temporarily stowed on the aft fixture.  The following photos and video show the Ranger engineering arm playing the role of the aft fixture.

Photos (click on the pictures for larger images)

Video (click on the picture to start the video)

FGShandhold-5Jul02-1.jpg (783520 bytes)
(765K)

FGShandhold-5Jul02-2.jpg (782219 bytes)
(763K)

FGShandhold-5Jul02-3.jpg (805219 bytes)
(786K)


(2.4M QuickTime)

 

Another task planned for the HST servicing mission is the replacement of the wide field/planetary camera 2 (WFPC2) with a new wide field camera 3 (WFC3).  The WFPC handhold is installed on the new camera before it is removed from its protective enclosure in the cargo by of the shuttle.  The following photos and video show the Ranger engineering arm grasping and moving the WFPC handhold.

Photos (click on the picture for a larger image)

Video (click on the picture to start the video)

WFPChandhold-5Jul02-1.jpg (784287 bytes)
(765K)

WFPChandhold-5Jul02-2.jpg (681326 bytes)
(665K)


(2.9M QuickTime)

 

 

 

Demonstration of the Ranger robot manipulator arm

Engineering Research Building (near the College Park Airport)
1 July 2002
6:00 - 8:00p m
(update by Dr. Russ Howard)

You are invited

to a demonstration of the Ranger robot manipulator arm

Monday, July 1 from 6:00 - 8:00 pm.

The location will be in Suite 4105 of the Engineering Research Building at the University of Maryland, College Park.

Ranger is a remotely-controlled robot designed for servicing satellites in space. In flight configuration, it would have four manipulator arms. At present, one arm is fully functional in the laboratory.

This occasion is a chance for the Ranger development team to show off the fruits of their labors to family, friends and interested bystanders.

 

Click for directions to the Engineering Research Building or the official invitation. (100K PDF)

 

© 2003- Space Systems Laboratory
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