An Automated Tether Management System for Microgravity Extravehicular Activities

An automated tether system has been developed for the purpose of improving the efficiency of micro-gravity activities of fully suited astronauts. System features include gripping of multiple anchor types, remote release of the tether from an anchor, and controlled retraction of the tether. Two main mechanisms make up the system. First, a remotely releasable, self-locking robotic gripper with opposing jaws that grasps a variety of anchors such as handrails, tether loops, and guide wires. Second, an automated tether retractor that is capable of active or passive operation. Passive retractor operation saves power by emulating existing safety tether systems and active operation expedites tether retraction and allows towing.

• Type: Conference
• Year: 2002
• Where: ICRA
• Authors: Mark A. Minor, Christopher R. Hirschi, Robert O. Ambrose
• Keywords: ICRA 2002, Robotics, Safety Tether Systems, Tether, Tether Retractor