Abstract: An electromagnetic brake/clutch device includes a drive shaft supported by at least one bearing for transmitting torque, a housing, affixed to prevent its rotation, surrounding the drive shaft, and an electromagnetically activated device within the housing to selectively prevent and allow rotation of the drive shaft. The electromagnetically activated device includes a plurality of cammed rollers acting to prevent clockwise rotation of the drive shaft and a plurality of cammed rollers to prevent counter-clockwise rotation of the drive shaft. The drive shaft includes a circumferential disk and the housing includes a reaction ring for engagement with the plurality of cammed rollers. The plurality of cammed rollers are released from engagement with the circumferential disk and the reaction ring by a plurality of tripping mechanisms within the housing. The tripping action uses the locking force to act as a release force merely by changing the boundary conditions of the roller interface angles.

Abstract: A system for coupling two bodies together and for transmitting torque from one body to another with mechanical timing and sequencing so that (1) the bodies are handled in a safe manner and nothing floats loose in space, (2) electrical connectors are engaged as long as possible so that the internal processes can be monitored throughout by sensors and (3) electrical and mechanical power and signals are coupled. The first body has a splined driver for providing the input torque and the second body has a threaded drive member capable of rotation and also of limited translation embedded within that will mate with and fasten to the splined driver. The second body also has a bevel gear member capable of rotation and also of limited translation embedded within and this bevel gear member is coaxial with the threaded drive member.

Abstract: A split spline screw type payload fastener assembly including three identical male and female type split spline sections. The male spline sections are formed on the head of a male type spline driver. Each of the split male type spline sections have an outwardly projecting load baring segment including a convex upper surface which is adapted to engage a complementary concave surface of a female spline receptor in the form of a hollow bolt head. Additionally, the male spline section also includes a horizontal spline releasing segment and a spline tightening segment below each load bearing segment. The spline tightening segment consists of a vertical web of constant thickness, having at least one flat vertical wall surface which is designed to contact a generally flat vertically extending wall surface tab of the bolt head. Mutual interlocking and unlocking of the male and female splines result upon clockwise and counter clockwise turning of the driver element.

Abstract: A system for coupling an orbital replacement unit (ORU) to a space station structure via the actions of a robot and/or astronaut. A first female spline connector is located on the space station structure, a male spline connector is positioned on the ORU to connect to the first female spline connector, and a second female spline connector is located on the ORU. A compliant drive rod interconnects the second female spline connector and the male spline connector. A robotic end effector is used for mating with and driving the second female spline connector. Also included are alignment tabs located on the ORU for berthing with the space station structure. The first and second female spline connectors each include a threaded bolt having a captured nut located thereon which can translate up and down the bolt but are constrained from rotation. The nut has a mounting surface with a first electrical connector for translating with the nut.

Abstract: A captured nut member is located within a tool interface assembly and being actuated by a spline screw member driven by a robot end effector. The nut member lowers and rises depending upon the directional rotation of the coupling assembly. The captured nut member further includes two winged segments which project outwardly in diametrically opposite directions so as to engage and disengage a clamping surface in the form of a chamfered notch respectively provided on the upper surface of a pair of parallel forwardly extending arm members of a bifurcated tool stowage holster which is adapted to hold and store a robotic tool including its end effector interface when not in use. A forward and backward motion of the robot end effector operates to insert and remove the tool from the holster.

Abstract: A phase discriminating capacitive sensor array system which provides multiple sensor elements which are maintained at a phase and amplitude based on a frequency reference provided by a single frequency stabilized oscillator. Sensor signals provided by the multiple sensor elements are controlled by multiple phase control units, which correspond to the multiple sensor elements, to adjust the sensor signals from the multiple sensor elements based on the frequency reference. The adjustment made to the sensor signals is indicated by output signals which indicate the proximity of the object. The output signals may also indicate the closing speed of the object based on the rate of change of the adjustment made, and the edges of the object based on a sudden decrease in the adjustment made.

Abstract: A mechanical coupling system wherein a spline screw system is used to connect two bodies, a work attachment mechanism and a work attachment fixture. A kinematic clamp first guides and mates the attachment mechanism to the attachment fixture. The kinematic clamp includes three round roller members equidistantly located around the periphery of the bodies and three correspondingly located V-shaped grooves located on the periphery of the other body. A motor driven spline screw in the attachment mechanism then engages a spline bolt head in the attachment fixture and includes a threaded shank upon which is mounted a translatable nut which is adapted to translate up and down the shank but not rotate. The nut carries one or more electrical connectors which travel upwardly during a connecting sequence and cams open a set of dust covers which operate to engage an opposing set of dust covers adjacent complementary type electrical connectors on the attachment mechanism.

Abstract: A capacitive proximity sensing element, backed by a reflector driven at the same voltage as and in phase with the sensor, is used to reflect the field lines away from a grounded robot arm towards an intruding object, thus dramatically increasing the sensor's range and sensitivity.

Abstract: A low friction, object guidance, and gripping finger device for a robotic end effector on a robotic arm, having a pair of robotic fingers each having a finger shaft slideably located on a gripper housing attached to the end effector, each of the robotic fingers having a roller housing attached to the finger shaft. The roller housing has a ball-bearing mounted centering roller located at the center, and a pair of ball bearing mounted clamping rollers located on either side of the centering roller. The object has a recess to engage the centering roller and a number of seating ramps for engaging the clamping rollers. The centering roller acts to position and hold the object symmetrically about the centering roller with respect to the X axis and the clamping rollers act to position and hold the object with respect to the Y and Z axis.

Abstract: A roller locking brake structure includes a roller locking/lifting ring, a housing, a set of conical locking rollers, a striker ring and a drive disc. The roller locking/lifting ring includes respective V-shaped locking cam surface segments for each locking roller which is in the form of a truncated cone and provides a force and torque reaction surface for forces and torques generated in the braking process as well as providing a channel for a magnetic coil and flux return path of a magnetic circuit used to release a conical roller when the brake is off. The locking conical rollers couple the ring to the rim surface of the drive disc which provides another cam surface. The striker ring is located adjacent the rollers and is pulled down against the small end of the rollers by an electromagnetic coil when energized to decouple the locking rollers from the drive disc and thus cease the braking action.

Abstract: A magnetostrictive drive motor having a rotary drive shaft in the form of a drum which is encircled by a plurality of substantially equally spaced roller members in the form of two sets of cones which are in contact with respective cam surfaces on the inside surface of an outer drive ring. The drive ring is attached to sets of opposing pairs of magnetostrictive rods. Each rod in a pair are mutually positioned end to end within respective energizing coils. When one of the coils in an opposing pair is energized, the energized rod expands while the other rod is caused to contract, causing the drive ring to rock, i.e. rotate slightly in either the clockwise or counterclockwise direction, depending upon which rod in a pair is energized. As the drive ring is activated in repetitive cycles in either direction, one set of drive cones attempt to roll up their respective cam surface but are pinned between the drive shaft drum and the drive ring.

Abstract: The present invention discloses a single sensor performing both tactile and proximity sensing. The sensor includes a magnetic field generator, a magnetic field sensor for sensing changes in the magnetic field in response to an object changing position with respect to the field to provide proximity sensing. By providing for relative movement between the response to the object touching the sensor, tactile sensing is provided.

Abstract: A wide-throw parallel-action gripper of the split-rail design is disclosed. The gripper includes a pair of preloaded linear bearings which engage the outward surfaces of each rail and two roller bearings spaced on either side of a pinion, all mounted onto a pinion shaft, which engage the inward sides of each rail. A single finger is mounted at opposed ends of each rail and an actuator is connected either to one of the rails or to the central pinion. The actuators can include a pneumatic cylinder of electrical stepping motors or D.C. servo motors.

Abstract: A torque gauge using magnetoelastic ribbons is presented wherein changes in the magnetic characteristics of these ribbons are detectable in a push-pull mode for determining torque forces applied to the ribbons. Respective tensile and compressive forces applied to the ribbons cause a change in the magnetic qualities of the ribbons and of the inductance of coils wound about the ribbons with the change of inductance being a measure of the torque forces applied to the input of the device.

Abstract: A magnetic holder for pulling in and securing a platform and personnel to e hull of a ship to be serviced is disclosed. A lightweight corrosion resistant body member houses a permanent magnet and has an extension for receiving an elongated tool with which the holder is brought in contact with the ship's hull. A flexible resilient line attaches the platform to the holder and allows the platform to be pulled to the hull. Easy removal of the holder is accomplished by applying an external force to the extension creating a turning moment to overcome the magnetic holding force.