Abstract: An advanced tool drive system (ATDS) is capable of grasping a variety of tools through a common interface and provides multiple modes of operation for these tools for these tools. The ATDS is a combination of both a tool actuator and tool change-out mechanism and provides three nested drive actuators-two rotary and one linear. In addition to the tool drive, the ATDS includes four brushless direct current (BLDC) motors which provide the actuation torque to accomplish the multiple modes of ATDS operation, and a camera positioning mechanism (CPM) capable of viewing features on a client satellite or asteroid. By consolidating the drive actuation motors within the ATDS, the design of mating tools becomes less complex and reduces risk and cost of multiple drive actuators having to be installed in multiple tools.

Abstract: A visual inspection posable invertebrate robot (VIPIR) borescope camera system can inspect components in difficult to reach locations. The system enables dexterous robotic inspection of worksites and areas that were heretofore impossible to inspect via extravehicular activities (EVA) and fixed situational awareness cameras. VIPIR may include: (1) a main drive assembly; (2) a reel system; (3) a video borescope assembly (VBA); (4) an enhanced motorized zoom lens (EMZL); (5) a fixed camera assembly (FCA); (6) a support structure; and/or (7) a main electronics box (MEB).