Form 9.B Project Summary






Project Title:

3 DOF Roll-Bend-Roll Epicyclic

Anthropomorphic Wrist

Technical Abstract (Limit 200 words)

NASA is committed to developing anthropomorphic

robots and devices to perform remote tasks in

space. Development of sophisticated mechanisms

such as multi-degree of freedom (DOF) hands and

end effectors with numerous wires and possibly

remote motors create demanding constraints on

other system components. Directly addressing this

need, MAR is proposing the development of a 3

DOF anthropomorphic roll-bend-roll wrist that

utilizes an epicyclic power transmission to provide

efficient packaging and a large internal passage

through the center of rotation for routing of wires

and drive cables. This innovative transmission

combines zero backlash planetary gearing and a

triple input differential with a triple load path cable

driven output stage that generates minimal radial

bearing loads and no thrust loads. In-line motors

and drive components produce anthropomorphic

kinematics with all 3 axes intersecting at the center

of the wrist. Joint motion is coupled and all 3 motors

contribute to the output of each axis, producing

wrist capacity up to 3 times that of traditional

designs. Phase I will develop the conceptual design

and perform detailed analysis and prototyping of

key innovative technologies. Phase II continues

R&D efforts producing and testing the 3 DOF


Potential Commercial Applications (Limit 200 words)

Commercial applications include telerobotics,

industrial automation, prosthetics, surgical

manipulators, and camera positioning. Significant

features of the technology such as; zero-backlash,

minimal bearing loads, and an unobstructed central

wire passage provide marketing advantages for

epicyclic mechanisms in numerous markets. Three

specific commercial products targeted by MAR are

discussed in Part 10.

Name and Address of Principal Investigator (Name,

Organization Name, Mail Address, City/State/Zip)

Joseph C. Matteo

Matteo Automation & Robotics Company

721 Summit Lake Court

Knoxville , TN 37922

Name and Address of Offeror (Firm Name, Mail Address,


Debbie M. Matteo

Matteo Automation & Robotics Company

721 Summit Lake Court

Knoxville , TN 37922