Development of a Tendon-Actuated Li ghtweight In-Space MANipulator  (TALISMAN) William R. Doggett*, John T. Dorsey*, Thomas C. Jones* and Bruce King** Abstract An invention of a new and novel space robotic manipulator is described. By using a combination of  lightweight truss links, a novel hinge joint, tendon-articulation and passive tension stiffening, this new robotic manipulator architecture achieves compact packaging, high strength, stiffness and dexterity while  being very lightweight compared to conventional manipulators. The manipulator is also very modular; easy to scale for different reach, load and stiffness requirements; enabling customization for a diverse set  of applications. Novel features of the new manipulator concept are described as well as some of the  approaches to implement these design features. Two diverse applications are presented to show the versatility of the concept. First generation prototype hardware was designed, manufactured and has been assembled into a working manipulator that is being used to refine and extend development efforts. Introduction Devices for maneuvering and precisely placing payloads are critical for efficient space operations  involving reusable assets or in-space assembly and construction. Key to the success of many of NASA’s space activities has been the availability of long-reach manipulators, such as the Shuttle Remote  Manipulation System (SRMS) and the Space Station Remote Manipulation System (SSRMS) (Refs. 1 and 2). These devices have been used for many operations including berthing spacecraft, space station  assembly, astronaut positioning, payload transfer, satellite deployment, and spacecraft inspection prior to reentry. New missions and applications currently being considered, such as asteroid retrieval and redirection, asteroid mining, satellite servicing, and small payload delivery to space stations, can all  benefit from long-reach manipulators.  Current manipulators embody an architecture whereby carbon composite tubes are joined by revolute  joints, with the joints accounting for the majority of the device mass. Generally, the joints are driven by a  gear train that applies the joint torque relatively close to the joint axis (Ref. 3). This results in the need to generate large torques, which in turn, requires large and massive gear-train-motor combinations. The area around the joint becomes a crowded location from a design stand point due to joint articulation, gearing, motors, and associated electronics all vying for space. Design is further complicated by the need  to route a large electrical harness through the joint area to transmit power, sensor data, control and video signals between the joints and end-effector. The current state-of-the-art in long-reach space robotics is represented by the SRMS and the SSRMS mentioned previously. Both of these incorporate traditional manipulator architectures, consisting of  lightweight booms connected by massive rotary joints that are systems of motors, gearboxes and brakes. The rotary joints account for 85 to 90 percent of the manipulator mass and manipulator compliance in  response to an applied load (Ref. 1). The long booms result in restrictive packaging options, and adding  joints to improve packaging would incur an extremely high mass penalty. The high mass associated with the joints also results in practical limits to: reach, packaging, stiffness and tip force that can be achieved  with the conventional architecture. *NASA Langley Research Center, Hampton, VA **Northrop Grumman, Hampton, VA /g51/g85/g82/g70/g72/g72/g71/g76/g81/g74/g86/g3/g82/g73/g3/g87/g75/g72/g3/g23/g21/g81/g71/g3/g36/g72/g85/g82/g86/g83/g68/g70/g72/g3/g48/g72/g70/g75/g68/g81/g76/g86/g80/g86/g3/g54/g92/g80/g83/g82/g86/g76/g88/g80/g15/g3/g49/g36/g54/g36/g3/g42/g82/g71/g71/g68/g85 /g71/g3/g54/g83/g68/g70/g72/g3/g41/g79/g76/g74/g75/g87/g3/g38/g72/g81/g87/g72/g85/g15/g3/g48/g68/g92/g3/g20/g23/g16/g20/g25/g15/g3/g21/g19/g20/g23/g3 405