Compact, Long-Reach Robotic Arm

NASA Langley Research Center developed a hyperdextrous robotic arm with lightweight joints that provide a wide range of motion. The tendon-articulated manipulator joints are actuated by capstans or winches located along the boom. This configuration offers significant mechanical advantage and improved efficiency over existing arms that use weighty gearboxes and motors. The arm joints have very high structural efficiency and significantly reduce manipulator mass while achieving a high level of joint stiffness. To further reduce weight while maintaining strength, stiff truss structures replace tubular links or booms between joints.