Space Robotics Presented - PowerPoint Presentation

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Space Robotics

Presented byMahesh Babu.SIV-BtechElectronics and Communication Engineering,SVIST

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Introduction:-

Robot Mechanical body , computer has its brain

Space Robotics

substitute or subsidised for the man activities in space

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Areas of Application:-

In orbit positioning and assembly Operation

Maintenance

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Scientific

Appications under the above categories areScientific ExperimentationAssist crew in space station assemblySpace servicing function

Space craft enhancements

Space Tug

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Space Shuttle Tile

Rewaterproofing robot

Tessellator

-Mobile Manipulator System

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Rewaterproofing

-Injecting hazardous dimethyloxysilane(DMES)Travelling workstation problem(TWP)-serves a certain area

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Objective

of the TWP is To determine the minimum number of workspaces and their layout

To determine the optimal route of the workstation movement

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The constraints of the problem are The workstation should serve or cover all workareas

.

The patterns or dimensions of each workspace are the same and

There some geographical obstacles or restricted areas.

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Path of the

Tesselator123seminarsonly.comSlide10

ROBOTS TO REFUEL SATELLITES

The US department of defense-

Autonomous Space Transporter and Robotic Orbiter (ASTRO)

Expands lifespan of satellites

carry out repair works

on

faulty satellites

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CHALLENGES IN DESIGN AND TESTING

zero gravity - physical action and mechanism

performance

The vacuum and thermal conditions of space

- material and sensor

performance

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ZERO ‘g’ EFFECT ON DESIGN

Arm

will be light in

mass

Manipulator arm -stiffness

based

J

oint

actuators

-selected

based on dynamic torque (i.e.; based on the acceleration of the arm).

Lack

of inertial frame

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VACUUM EFFECT AND THERMAL EFFECT

Total 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

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OTHER FACTORS

Prime requirements of space systems is lightweight and compactness

.

D

ynamic loads during launch-sinusoidal

vibrations, random vibrations, acoustic noise and separation shock spectra

.

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(FMECA) is to be carried out

Choosing proven/reliable designs.Having good design margins.Have design with redundancy

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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.

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Manufacturing robots operate in climate

controlled, \|O(+,-)2K factory environmentsS

pace

manipulators must be designed for \|O(+,) 75K temperature variations with 1500 W/m2 of solar flux

.

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SYSTEM VERIFICATION AND TESTING

The commonly used simulations for zero ‘g’ are

Flat floor test

facility

Water immersionCompensation system

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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.

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Error sources are identified by a bottom up analysis

Error sources are identified and are sorted into three categoriesSystematic error

Pseudo systematic error

Random errors

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ROBOT CALIBRATION

Calibration must be done on

ground

Calibration

is performed in five steps:Modeling

Measurement,

Identification

Model implementation

Verification

Performance Evaluation

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STRUCTURE OF SPACE ROBOTS

6 degrees of freedom (DOF). The main subsystems in the development of the manipulator arm are

Joints

Arm

Wrist Gripper

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JOINTS

Two 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

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OPERATION

SPACE SHUTTLE ROBOT ARM Use

Survey 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

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Shuttle robot arm observed from the deck

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ROBOT ARM OPERATION MODE

THC RHC

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HOW SPACE SHUTTLE ROBOT ARM GRASPS OBJECT?

End effector and grapple fixture

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Robot arm’s payload acquiring sequence

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FREE FLYING SPACE ROBOTS

In a free flying space robot a robot arm is attached to the satellite baseThe satellite may start rotating in an uncontrollable way.The antenna communication link may be interrupted

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Free flying space robots

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SPACE STATION MOUNTED ROBOTS

JEMRMS SPDM

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SPACE ROBOT TELEOPERATION

Develop a completely autonomous robotTeleoperation technologies for the robots with high levels of autonomy become very importantTeleoperation

of space robots from the ground in the future space missions.

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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.

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REFERENCES

www.andrew.cmu.edu/~ycia/robot.htmlwww.space.mech.tohoku.ac.jp/research/overview/overview.htmlwww.nanier.hq.nasa.gov/telerobotics-page/technologies/0524.html

www.jem.tksc.nasda.go.jp/iss/3a/orb_rms_e.html

production technology

by R. K. Jainintroduction to space robotics

by

Alex Ellery

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QUERIES

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