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NASA Technical Reports Server (NTRS) 19920023774: Electromagnetic a...
by NASA Technical Reports Server (NTRS)
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An electromagnetic attachment mechanism is disclosed for
use as an end effector of a remote manipulator system. A
pair of electromagnets, each with a U-shaped magnetic
core with a pull-in coil and two holding coils, are
mounted by a spring suspension system on a base plate of
the mechanism housing with end pole pieces adapted to
move through openings in the base plate when the
attractive force of the electromagnets is exerted on a
strike plate of a grapple fixture affixed to a target
object. 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. When
energized, the pull-in coils overcome the suspension
system and air gap and are automatically de-energized
when the pole pieces move to grapple and impose a preload
force across the grapple interface. A battery backup is a
redundant power source for each electromagnet in each
individual control circuit and is automatically connected
upon failure of the primary source. A centerline mounted
camera and video monitor are used in cooperation with a
target pattern on the reflective surface of the strike
plate to effect targeting and alignment.
Date Published: 2016-10-01 02:16:45
Identifier: NASA_NTRS_Archive_19920023774
Item Size: 32816200
Language: english
Media Type: texts
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