Scalable common interface plate system (SCIPS)
View Patent ↗The present invention provides a low profile, compact, scalable concept end-effector for use in robotic handling applications. The end-effector acts as the interface between multi-degree-of-freedom (DOF) manipulator and its base (if applicable), as well as the tools it handles and is compatible with both large manipulator systems such as the Shuttle Remote Manipulator System (SRMS) and Space Station Remote Manipulator System (SSRMS) and smaller dexterous manipulators such as the Orbital Express Dexterous Manipulator System. An active/controlled component is attached to the roll joint(s) at one or both end(s) of the manipulator, with an entirely passive component attached to the structure/tools that the manipulator interfaces with. Interface engagement and mate operations are performed by way of the manipulator roll joint. Once mated, shear pins are extended to lock the mated assembly in place and achieve a high stiffness, zero free play mated interface.
1. A method of mating an object to a robotic manipulator, said method comprising the steps of:
providing an active base interface plate affixed to said robotic manipulator, said active base interface plate including at least one wedge protruding from said active base interface plate, at least one locking pin, and an actuator for extending and retracting said at least one locking pin,
providing a passive base interface plate affixed to said object, said passive base interface plate including at least one slot and at least one pin hole,
commanding said robotic manipulator to maneuver said active base interface plate affixed to said robotic manipulator towards said passive base interface plate such that said at least one wedge protrudes through said at least one slot,
commanding said robotic manipulator to rotate said active base interface plate such that said at least one wedge contacts a bottom surface of said passive base interface plate, and
commanding said robotic manipulator to extend said at least one locking pin into said at least one pin hole.
2. The method of claim 1 , wherein said active base interface plate further includes a barrel cam assembly, the barrel cam assembly including an inner cam track connected to said at least one locking pin, the actuator being a motor connected to said barrel cam assembly, and wherein said step of extending said at least one locking pin includes commanding said motor to rotate said barrel cam assembly, thereby extending said at least one locking pin.
3. The method of claim 1 , wherein said active base interface plate further includes at least one electrical connector and said passive base interface plate further includes at least one electrical receptacle, and wherein said method further comprises the step of
extending said at least one electrical connector to plug into said at least one electrical receptacle.
4. The method of claim 3 , wherein said active base interface plate further includes a barrel cam assembly, the barrel cam assembly including an inner cam track connected to said at least one locking pin and an outer cam track connected to said at least one electrical connector, the actuator being a motor connected to said barrel cam assembly,
wherein said step of extend said at least one locking pin includes commanding said motor to rotate said barrel cam assembly, thereby extending said at least one locking pin,
and wherein said step of extending said at least one electrical connector includes commanding said motor to further rotate said barrel cam assembly, thereby extending said at least one electrical connector.
5. The method of claim 1 , wherein said passive base interface plate further includes visual markers, and wherein said robotic manipulator is controlled using a vision system and one of either a human-in-the-loop or automatic control modes.
6. The method of claim 1 , wherein said at least one locking pin is three locking pins and said at least one pin hole is three pin holes.
7. The method of claim 6 , wherein said at least one wedge is three wedges and said at least one slot is three slots.