Abstract: An electromagnetic attachment mechanism for use as an end effector of a remote manipulator system. A pair of electromagnets 15A,15B, each with a U-shaped magnetic core with a pull-in coil 34 and two holding coils 35,36 are mounted by a spring suspension system 38,47 on a base plate 25 of the mechanism housing 30 with end pole pieces 21,22 adapted to move through openings in the base plate when the attractive force of the electromagnets is exerted on a strike plate 65 of a grapple fixture 20 affixed to a target object 14. The pole pieces are spaced by an air gap from the strike plate when the mechanism first contacts the grapple fixture. An individual control circuit and power source is provided for the pull-in coil and one holding coil of each electromagnet. A back-up control circuit connected to the two power sources and a third power source is provided for the remaining holding coils.

Abstract: An electromagnetic attachment mechanism for use as an end effector of a remote manipulator system. A pair of electromagnets 15A, 15B, each with a U-shaped magnetic core with a pull-in coil 34 and two holding coils 35,36 are mounted by a spring suspension system 38,47 on a base plate 25 of the mechanism housing 30 with end pole pieces 21,22 adapted to move through openings in the base plate when the attractive force of the electromagnets is exerted on a strike plate 65 of a grapple fixture 20 affixed to a target object 14. The pole pieces are spaced by an air gap from the strike plate when the mechanism first contacts the grapple fixture. An individual control circuit and power source is provided for the pull-in coil and one holding coil of each electromagnet. A back-up control circuit connected to the two power sources and a third power source is provided for the remaining holding coils.

Abstract: A payload retention device (10) for grappling and retaining a payload (14) in docked position on a supporting structure (18) in the cargo bay of a space vehicle. The device comprises a two-fault tolerant electromagnetic grappling system comprising electromagnets (30A,30B) for attracting and grappling a grapple strike plate (20) affixed to the payload when in proximity thereto and an electromechanical latching assembly comprising a pair of independent latching subassemblies. Each subassembly comprises a set of latching pawls (29) which are driven into latching and unlatching positions relative to a grappled payload by a pair of gearmotors (40), each equipped with a ratchet clutch drive mechanism (75, 76) which is two-fault tolerant with respect to latching such that only one gearmotor of the four needs to be operational to effect a latch of the payload but is single fault tolerant with respect to release of a latched payload.

Abstract: The combination 10 of a foot restraint platform 12 designed primarily for use by an astronaut being rigidly and permanently attached to an end effector 14 which is suitable for attachment to the manipulator arm 16 of a remote manipulating system. The foot restraint platform, is attached by a brace 36 to the end effector 14 at a location away from the grappling interface of the end effector. The platform comprises a support plate 18 provided with a pair of stirrups 21,22 for receiving the toe portion of an astronaut's boots when standing on the platform and a pair of heel retainers 23,24 in the form of raised members which are fixed to the surface of the platform and located to provide abutment surfaces for abutting engagement with the heels of the astronaut's boots when his toes are in the stirrups. The heel retainers 23,24 preclude a backward sliding movement of the feet on the platform and instead require a lifting of the heels in order to extract the feet.

Abstract: Apparatus and method for releasably connecting first and second objects, wherein a magnetic end effector may include at least one elongated pin member (10) a proximal end of which is connected to the first object (1) and the distal end of which may be inserted into a receiving portion (4) in the second object (2). Latch members (16) are carried by the pin member (10) for radial movement between retracted and expanded positions for releasing and locking, respectively, first and second objects (1, 2). A plunger member (20) carried by the pin member (11) is axially moveable between first and second positions. In the first plunger position, the latch members (16) are located in the expanded (locked) position and in the second plunger position the latch members (16) are released for movement to retracted or unlocked position. Magnetic end effector (30) is provided for releasable attachment to the first object (1) and for moving the plunger member (20) to the second position, thereby releasing the first object (1).

Abstract: Improved techniques are provided for alignment of two objects. The present invention is particularly suited for three-dimensional translation and three-dimensional rotational alignment of objects in outer space. A camera 18 is fixedly mounted to one object, such as a remote manipulator arm 10 of the spacecraft, while the planar reflective surface 30 is fixed to the other object, such as a grapple fixture 20. A monitor 50 displays in real-time images from the camera, such that the monitor displays both the reflected image of the camera and visible markings on the planar reflective surface when the objects are in proper alignment. The monitor may thus be viewed by the operator and the arm 10 manipulated so that the reflective surface is perpendicular to the optical axis of the camera, the roll of the reflective surface is at a selected angle with respect to the camera, and the camera is spaced a pre-selected distance from the reflective surface.

Abstract: A system of measuring, counting, and recording numerical information using binary notation with a minimized number of digits or bits, a system that may frequently be used to better advantage than the well known binary pulse code modulation system or the delta modulation system. In the binary concatenated coding system (hereinafter BCC), a three-bit data word is used to count all whole numbers from zero through 99, whereas for the same count capability and resolution the binary system requires the use of seven bits. In any one of the 10 decades this is accomplished by starting with a one, progressing stepwise from one to seven and then to zero in a binary fashion, thus providing eight positions corresponding to the first eight numbers of our everyday Arabic system. The ninth and tenth positions are oocupied by two of these same eight numbers so selected and arranged that they uniquely describe the decade completed by them relative to the other nine decades of the total count capability of 100.