For Official NASA Use Only R2 Technical Briefing Nicolaus Radford Robonaut Deputy Project Manager Robonaut Electrical Lead NASA 2/3/2010 For Official NASA Use Only

For Official NASA Use Only Agenda In-depth look at the Robonaut Subsystems Mechanical Electrical Command and Data Processing Architecture Control Display Overview For Official NASA Use Only

For Official NASA Use Only Mechanical For Official NASA Use Only

Mechanical Design Overview 3 DOF Neck Waist 7 DOF Upper Arm and Wrist 12 DOF Hands Superior Dexterity Total of 42 Degrees of Freedom Controlled by 54 Servo Motors 4 DOF Thumb 3 DOF Primary Fingers 1 DOF Secondary Fingers For Official NASA Use Only

Mechanical Design Overview Enabling Technologies Compact Rotary Series Elastic Actuator Capabilities Enabled Stiffness Control Collision Detection / Obstacle Avoidance Zero Gravity Float Mode Directional Force Control J1 J2 J3 J4 J5 J3 Joint Output Spring Output Frameless DC Motor Harmonic Drive Gear Reduction APS #1 Spring Input Position APS #2 Spring Output Position Spring Input Novel Planar Torsion Spring For Official NASA Use Only

Mechanical Design Overview Enabling Technologies Tendon Driven Finger Actuation System Compact Remote Actuation Hybrid Vectran/Teflon Tendon Material Capabilities Enabled Human-Like Size, Strength , and Range of Travel Finger Torque Control Motor Gear Head Ball Screw Assembly Flexible Conduit Tension Sensor Teflon Liner Braided Polymer Tendon Tendon Terminator Ball Nut Ball Screw Tendon Hook Tendon Loop For Official NASA Use Only

For Official NASA Use Only Electrical For Official NASA Use Only

Electrical Design Overview Total of 143 Custom Printed Circuit Boards (PCBs) in Robonaut 30 unique PCB Designs in Robonaut - 36 upper arm boards 10 unique - 22 forearm boards 5 unique - 44 hand boards - 18 neck / head boards 2 unique - 17 body / waist boards 6 unique - 6 back pack boards 1 unique For Official NASA Use Only

Electrical Design Overview Ethernet to Commander And Head Power Indicator Lights Gigabit Ethernet Hub Power Fuses Brain Stem Brain Stem Power Relays MLVDS Communications Link (50 Mbit/s) Power Control Board Smart Guard Rotational Waist Joint Super Driver Controller Board For Official NASA Use Only

Electrical Design Overview Power Power Backpack 3 Phase 208VAC (8000W) Single Phase 210 VDC (2800W) 265-354VDC (2800W) Station Power Compatibility 120 to 300 VDC Boost (900W) For Official NASA Use Only

Electrical Design Overview MLVDS to Brainstem MLVDS Communications Link (50 Mbit/s) Control Update Rates Impedance Control – 350Hz Cartesian Control – 50Hz (4) Super Driver Controller Board (5) Series Elastic Actuators (1) Super Driver Controller Board MLVDS to Lower Arm Joint Level Control Update Rates Torque Control – 10KHz Motor Analog APS Analog APS Spring Safety Encoder For Official NASA Use Only

Electrical Design Overview MLVDS Communications Link (50 Mbit/s) MLVDS to Upper Arm and Brainstem Motor Driver Board High Speed Serial Link 5 Mbit/s High Speed Serial Link 50 Mbit/s Finger Processor Forearm Controller (16) Finger Actuator Tension Sensor ADC Proximal Finger (2) Wrist Actuator Medial Finger Palm Finger Sensor & Control Update Rates Tension – 350Hz Phalange – 50Hz Hall – 350Hz Impedance Control – 350Hz Cartesian Control – 50Hz Finger Phalange Force Sensor Finger Hall Position Sensor Tendon Force Sensor For Official NASA Use Only

Electrical Design Overview Gigabit Ethernet Hub (3) Super Driver Controller Boards (2) TeleOp Camera GigE to Vision Computer (2) Hi Res Camera USB II Hub USB II to Vision Computer IR Range Imager (3) Actuators Auxiliary Area Lighting Laser Crosshair Target Projector MLVDS to Brainstem Analog APS Motor Safety Encoder For Official NASA Use Only

Commanding and Data Processing Flow For Official NASA Use Only

Real-time Application System Architecture Software Safety Limits Motion Planning System Control Panel Task Planning “Brain Stem” Real-time Application Robot Control Network System Commander High -Speed Serial Bus Distributed Sensing Interface Haptic Algorithms Vision Algorithms Vision Cameras GigE For Official NASA Use Only Auxiliary Sensing PC

For Official NASA Use Only Display Overview For Official NASA Use Only

For Official NASA Use Only Display Overview For Official NASA Use Only