M.A.R.S. Manteno Advanced Robotics in Space The Future of Space Robotics.
Space robotics
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Transcript of Space robotics
INTRODUCTIONRobot
Mechanical body , computer has its brain Space Robotics
substitute or subsidized for the man activities in space
Possible to design and develop the advanced robot system
CHALLENGES IN DESIGNING
ZERO “g” EFFECT ON DESIGN VACUUM THERMAL EFFECT OTHERFACTORS SPACE MODULAR MANIPULATORS
ZERO “g” EFFECT
Arm will be light in massManipulator arm -stiffness based Joint actuators -selected based on
dynamic torque (i.e.; based on the acceleration of the arm).
Lack of inertial frame
VACUUM&THERMAL EFFECTTotal mass loss (TML) <1% Collected volatile condensable matter
(CVCM) <0.1%.Low temperature -embrittlement of the
material, weaken adhesive bonding and increase friction in bearings.
Large thermal gradients -distortion in structural elements and jamming of the mechanism
OTHER FACTORS Prime requirements of space systems
is lightweight and compactness.
Dynamic loads during launch-sinusoidal vibrations, random vibrations, acoustic noise and separation shock spectra.
SPACE MODULAR MANIPULATORSThe unique thermal, vacuum and
gravitational conditions of space drive different from the typical laboratory robot
Four main design drivers wereExtreme Thermal Conditions; High Reliability Requirements; Dynamic Performance; and Modular Design.
SYSTEM VERIFICATION&TESTING
The commonly used simulations for zero ‘g’ are
Flat floor test facilityWater immersionCompensation system
ROBOT PERFORMANCE ASSESSMENT
To identify the main source of error which perturb the accuracy of the arm.
To decide if the arm or the work cell must be calibrated.
To compare the expected improvement in accuracy in calibration.
ROBOT CALIBRATION
Error sources are identified by a bottom up analysis
Error sources are identified and are sorted into three categories
Systematic error Pseudo systematic errorRandom errors
JOINTSTwo types of joints areRoll joint Pitch joint Each joint consists ofElectro optical angular encoders Pancake type DC torque motors Harmonic gear Electromagnetically actuated friction brakes
OPERATIONSPACE SHUTTLE ROBOT ARM UseSurvey the outside of the Space Shuttle Transport an EVA crew member at the
end of the arm Satellite deployment and retrieval Construction of International Space
Station
FREE FLYING SPACE ROBOTS
In a free flying space robot a robot arm is attached to the satellite base
The satellite may start rotating in an uncontrollable way.
The antenna communication link may be interrupted
Scientific Applications under the above categories are
Scientific ExperimentationAssist crew in space station
assemblySpace servicing functionSpace craft enhancements Space Tug
CONCLUSION In the future, robotics will makes it
possible for billions of people to have lives of leisure instead of the current preoccupation with material needs.
There are hundreds of millions who are now fascinated by space but do not have the means to explore it.
For them space robotics will throw open the door to explore and experience the universe.