Abstract: The robotic end-effector system comprises a mounting bracket assembly attached to a manipulator arm of a robot. A dual shaft motor is attached to the mounting bracket assembly. The motor has first and second rotatable output shafts. The first shaft is for mounting an encoder for providing position data. A mechanical drive mechanism is connected to the motor and to the mounting bracket assembly. The mechanical drive mechanism converts rotational motion of the second output shaft to translational motion. A passive compliance system is connected to the mechanical drive mechanism. A load sensor system is supported by the compliance system for providing force data. An end-effector end piece is connected to the load sensor system. A closed loop computer control system is in communication with the motor for processing the position data and the force data for providing micro positioning of the end-effector end piece and for providing an active system compliance, thereby achieving the desired end-effector function.

Abstract: A rocket deceleration system for a spacecraft, comprises a first set of active canted rockets for attenuating a horizontal velocity of the spacecraft and a portion of the vertical velocity thereof. A second set of active canted rockets attenuate the remainder of the vertical velocity. A third set of available canted rockets attenuate a wide range of horizontal velocities, regardless of the vehicle roll position about its vertical axis. The first set, second set and third set of rockets form a ring and combine to form a total number of rockets being divisible by the numeral 6. Each rocket is 180.degree. from an opposing rocket on the other side of the ring. A programmable controller identifies rockets to be fired to attenuate horizontal and vertical spacecraft velocities.

Abstract: The apparatus includes a static base, a platform, a first arm assembly, and a second arm assembly. The first arm assembly has a first terminal portion pivotally connected at a first pivot point to a first portion of the static base and a second terminal portion pivotally connected to the platform at a second pivot point. The first arm assembly is so constructed to permit changes in the distance between the first and second pivot points, but is concomitantly constrained to movement in a desired first plane. The second arm assembly has a respective first terminal portion pivotally connected at a third pivot point to a second portion of the static base and a respective second terminal portion pivotally connected to the platform at a fourth pivot point. The second arm assembly is so constructed to permit changes in the distance between the third and fourth pivot points but is constrained to movement in a desired second plane which is angularly disposed from the first plane.

Abstract: An apparatus for maintaining the angular position of a platform during motion of the platform in any direction relative to a base. The apparatus includes a static base, a platform, a first arm assembly, a second arm assembly and a third arm assembly. Each arm assembly has one terminal portion connected to a portion of the static base, by a universal joint, and another terminal portion, connected to the platform, by another universal joint. Each arm assembly is so constructed to permit changes in the distance between its universal joints, but concomitantly removes a degree of angular freedom from the platform. The angular position of the platform is thereby maintained when the distance between the respective universal joints is changed.

Abstract: A multiple fail operational rotary actuator comprising a static base, at least two serially connected rotary motor stages, a power source, and braking devices. The rotary motor stages are connected by anti-friction bearing assemblies. A first stage is connected to the static base while a final stage is connected to an output shaft of the rotary actuator. The power source provides power for the rotary motor stages. The braking devices are connected to the rotary motor stages for preventing relative motion between any failed motor stage and the adjacent motor stage ahead of that failed stage.

Abstract: The present invention is a straight line gripper tool and changer assembly, comprising a rotary actuator, a rotary mechanical sequencer, a tool changer, and a tool. The rotary actuator is attachable to a robot arm. The rotary mechanical sequencer is connected to and powered by the rotary actuator providing first and second concentric outputs. A tool changer is driven by the first output for capturing or releasing tools. The tool changer includes a plurality of tool changer clamps. The motion of each tool changer clamp is in a straight line relative to the sequencer. The tool is driven by the second output. The tool comprises at least two end effector clamps for engaging a workpiece. The tool is connected to the tool changer. The motion of each end effector clamp is maintained in a straight line relative to the tool and changer.

Abstract: A braking device for a vehicle utilizing a plurality of wheels that permit motion relative to a substantially horizontal surface. A support is provided for supporting at least one of the wheels. An orthogonal coordinate system is defined where x is the longitudinal axis of the vehicle and is parallel to the direction of vehicle motion; y is perpendicular to the x-axis, and in the horizontal plane, and z is the vertical axis. The support includes an axle disposed substantially parallel to the y-axis for supporting at least one wheel. A device is provided for rotatably engaging the axle with the wheel. The supports includes a rotary friction brake assembly and an attachment for pivotally attaching the stator of the brake assembly to the main structure. The attachment includes at least one link element disposed substantially in the y-z plane. The link element has a first end pivotally mounted to the main structure and a stator attaching portion pivotally mounted to the stator.

Abstract: A braking device for a vehicle utilizing a plurality of wheels for motion relative to a surface. The present invention includes a bent axle for supporting at least one of the wheels. The bent axle has a first axle portion being disposed parallel to a y-axis which is perpendicular to an x-axis, the x-axis defining the longitudinal axis of a main structure of the vehicle, the x-axis also defining the direction of vehicle motion. The bent axle includes at least one terminal axle portion angularly disposed from the first axle portion. The first axle portion of the bent axle rotatably engages with the main structure of the vehicle, along an axis parallel to the y-axis. The terminal axle portion of the bent axle rotatably engages with the wheel. Therefore, the wheel rotates in a plane that is not parallel to the direction of vehicle motion.

Abstract: A novel gimbal mechanism utilizes one or more support arms so rotatably coupled to support structure and to an article whose position is to be controlled as to permit such article to be reoriented along any axis within a cone defined by axes of rotation of the gimbal's support arms.

Abstract: A planetary (epicyclic) gear set is provided with a reversible rotating input shaft and individual outputs shafts actuated, respectively, by the ring gear and planet gear carrier. Latch means is positioned to selectively and automatically stop the ring gear or carrier member while releasing the other to provide the desired sequential output operation. The output shafts are reversed in sequence and direction of rotation by reversing rotational direction of the input shaft.