Mechatronics: The Development, Analysis, And Ground Based-Demonstrations Of Robotic Spacecraft Hopping With A Manipulator
Mechatronics: The Development, Analysis, And Ground Based-Demonstrations Of Robotic Spacecraft Hopping With A Manipulator
- New search for: J. L. Komma
- New search for: J. L. Komma
Astrobee is a robot designed by Intelligent Robotics Group at NASA Ames Research Center to operate inside of the International Space Station (ISS). The robot has a manipulator that is made up of various mechanical, electronic, and control systems. The designed purpose of the manipulator is to perch Astrobee in an effort to minimize power consumption. The study of grasping dynamics and hopping will lead to more efficient maneuvers that would not require propellant. Can the current Astrobee manipulator perform a propellant less maneuver by using its manipulator? This thesis reports the construction, design, integration, and testing of a robotic manipulator. A replica model of NASAs Astrobee manipulator, with 3 degrees of freedom (3-DOF), was constructed at the Spacecraft Research Laboratory (SRL) of Naval Postgraduate School (NPS) using commercial off-the-shelf (COTS) avionics. The control principle of the manipulator was correspondingly developed. Using the Python scripts, the user can easily interact and control the manipulator. Purposely developed test beds enabled to measure the maximum linear force required to remove the manipulator from a perched rail and determine the gripper slip angle of the manipulator from a three-dimensional (3D) printed ISS rail. We found that Astrobees manipulator can perform propellant less maneuvers by tossing itself from one ISS rail to another ISS rail.
Document information
Mechatronics: The Development, Analysis, And Ground Based-Demonstrations Of Robotic Spacecraft Hopping With A Manipulator
2018
123 pages
Report
No indication
English
Tooling, Machinery, & Tools , Unmanned Spacecraft , Mechatronic engineering , Jet propulsion , Space systems , Control systems , Test beds , Spacecraft , Control systems engineering , Manipulators , Astrobee robot , Robotics , Multi-body mechanics , Linear force , Self-toss slip angle , Ssrms(space station remote manipulator system) , Spdm(special purpose dexterous manipulator) , Puma(programmable universal manipulator for assembly) , Matlab(matric laboratory) , Mbs(mobile remote servicer base system) , Fss(floating spacecraft simulator)
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