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Completed TRL 3 (started at 3, targeting 4)
Long-reach and compactly-stowable tendon actuated manipulators greatly improve the state-of-the-art in space robotics by significantly increasing manipulator reach and dexterity, while reducing mass and complexity, enabling new capabilities for asteroid redirect missions, as well as manipulation and astronaut positioning in cislunar space. During FY13, the design for a 300-meter long-reach manipulator was completed, and a prototype section of a compactly-stowable manipulator was fabricated, assembled and demonstrated mechanically. This technology is being evaluated as an alternative solution for asteroid capture.
Efforts in 2014 will concentrate on development of a long-reach tendon-actuated manipulator concept, focusing on an embodiment that will enable asteroid capture and retrieval operations. Results from the 2013 manipulator prototype section tests, along with requirements for an asteroid redirect mission, will be used to design a tendon-actuated manipulator. A limited set of key elements of the design will be fabricated with the goal of preparing to fabricate a complete manipulator (in FY15) that would be used to demonstrate new capabilities including: deployment from a stowed configuration; and robotic manipulation using a fully-antagonistic tendon control architecture with end-point control.
The fully matured technology demonstrated in the 2-link TALISMAN could potentially provide new capabilities that could be used for asteroid redirect missions, manipulation, astronaut positioning, payload retrieval at ISS, in-space assembly and construction, satellite servicing and repair, and spacecraft berthing operations in a compactly-stowable form factor that would allow for easy launch of the mechanism.
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