Integrated Human Exploration Mission Simulation Facility (INTEGRITY)

NASA's goal with the INTEGRITY project is to: Simulate all elements of long-duration human planetary exploration missions Integrate and evaluate enabling technologies that provide focus to R&D Develope and validate advanced risk and cost analysis technologies Develope and validate new techniques for education, outreach, and public affairs

INTEGRITY Configured for Mars (Photo courtesy of NASA)

WCSAR's Contributions to INTEGRITY

Reconfigurable End Effector

Features - Autonomous/Telerobotic Control Architecture - Environment Monitoring - Biomass Sampling and Harvesting - Wireless Communication

Components

Sensor Module Properties Temperature: 0 – 85 oC Relative Humidity: 20 - 95 %RH Light Intensity: 0 – 2500 mmol/m2/s Air Flow: 0.4-35 m/s Pressure: 0- 2.5 bar Data Transmission: wireless transceiver Module Weight: = 310 g Module Dimension: = 7 cm x 8 cm x 8 cm Assembly: Reconfigrable Interface Gripper Properties Degrees-of-freedom motion: 2 Jaw stroke (movement): 35 mm/jaw Position precision: = 0.1 mm/jaw Jaw Force: Max. 2.5 kg/jaw Jaw length: 50 mm Cutting Tool: 2 parallel blades Force detection resolution: = 15 g Grasping detection: Tactile Gripper weight: = 440 g Gripper dimensions: = 10 x 11 x 5 cm Assembly: Reconfigurable interface Linear Axis Properties Travel Distance: 0 - 50 cm Load Capacity: 5.5 kg axial and 4.2 kg lateral Weight: 1.2 kg Video: wireless NTSC signal Mechanical Interface: Reconfigurable quick latch

For more information, please contact:

Dr. Weijia Zhou tel. 608-262-5526