Space Robotics and Vehicle Interfaces - UMD

Space Robotics and Vehicle Interfaces ENAE 483/788D - Principles of Space Systems Design

U N I V E R S I T Y O FMARYLAND

Space Robotics and Vehicle Interfaces• Lecture #25 – November 24, 2020 • Robotic systems • Docking and berthing interfaces • Windows

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© 2020 David L. Akin - All rights reserved http://spacecraft.ssl.umd.edu

Space Robotics and Vehicle Interfaces ENAE 483/788D - Principles of Space Systems Design

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Shuttle Remote Manipulator System

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Space Robotics and Vehicle Interfaces ENAE 483/788D - Principles of Space Systems Design

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RMS Wrist Mechanisms

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Space Robotics and Vehicle Interfaces ENAE 483/788D - Principles of Space Systems Design

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RMS Grapple Fixture and Target

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Space Robotics and Vehicle Interfaces ENAE 483/788D - Principles of Space Systems Design

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Shuttle RMS Grapple Tolerances

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Space Robotics and Vehicle Interfaces ENAE 483/788D - Principles of Space Systems Design

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Capture Before Contact• Need to control position and attitude of

servicing/assembly targets • Generally in free drift mode prior to grapple • Small impacts produce substantial counter-

reactions (e.g., Solar Max) • Goal for grapple devices: capture before contact • Envelope some aspect of target to prevent escape

before any contact is made • Rigidize grapple after capture

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Space Robotics and Vehicle Interfaces ENAE 483/788D - Principles of Space Systems Design

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Shuttle RMS Grapple Procedure (1)

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Space Robotics and Vehicle Interfaces ENAE 483/788D - Principles of Space Systems Design

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Shuttle RMS Grapple Procedure (2)

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Space Robotics and Vehicle Interfaces ENAE 483/788D - Principles of Space Systems Design

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Shuttle RMS Grapple Procedure (3)

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Space Robotics and Vehicle Interfaces ENAE 483/788D - Principles of Space Systems Design

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Space Station Remote Manipulator

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Space Robotics and Vehicle Interfaces ENAE 483/788D - Principles of Space Systems Design

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Space Station Remote Manipulator

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Space Robotics and Vehicle Interfaces ENAE 483/788D - Principles of Space Systems Design

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Space Station RMS - Canadarm II

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Space Robotics and Vehicle Interfaces ENAE 483/788D - Principles of Space Systems Design

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SSRMS Latching End Effector

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https://youtu.be/QqgxfFlQ3D0

Great (short) video of SSRMS latching end effector in action:

Space Robotics and Vehicle Interfaces ENAE 483/788D - Principles of Space Systems Design

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ISS Power Data Grapple Fixture

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Space Robotics and Vehicle Interfaces ENAE 483/788D - Principles of Space Systems Design

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Special Purpose Dexterous Manipulator

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Space Robotics and Vehicle Interfaces ENAE 483/788D - Principles of Space Systems Design

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Special Purpose Dexterous Manipulator

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Space Robotics and Vehicle Interfaces ENAE 483/788D - Principles of Space Systems Design

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Special Purpose Dexterous Manipulator

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Space Robotics and Vehicle Interfaces ENAE 483/788D - Principles of Space Systems Design

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SPDM - Dextre

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Space Robotics and Vehicle Interfaces ENAE 483/788D - Principles of Space Systems Design

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SPDM Orbital Tool Changeout Mechanism

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Space Robotics and Vehicle Interfaces ENAE 483/788D - Principles of Space Systems Design

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European Robotic Arm

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Space Robotics and Vehicle Interfaces ENAE 483/788D - Principles of Space Systems Design

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Japanese Exposed Facility Robotics

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Space Robotics and Vehicle Interfaces ENAE 483/788D - Principles of Space Systems Design

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JEM Remote Manipulator System

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Space Robotics and Vehicle Interfaces ENAE 483/788D - Principles of Space Systems Design

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JEM Small Fine Arm

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Space Robotics and Vehicle Interfaces ENAE 483/788D - Principles of Space Systems Design

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DARPA Orbital Express

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Space Robotics and Vehicle Interfaces ENAE 483/788D - Principles of Space Systems Design

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Orbital Express Demo Manipulator System

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Space Robotics and Vehicle Interfaces ENAE 483/788D - Principles of Space Systems Design

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OE Docking System Design Requirements

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Space Robotics and Vehicle Interfaces ENAE 483/788D - Principles of Space Systems Design

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OE Docking System

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Christiansen and Nilson, “Docking Systems Mechanism Utilized on Orbital Express Program” 39th Aerospace Mechanisms Symposium, May 2008

Space Robotics and Vehicle Interfaces ENAE 483/788D - Principles of Space Systems Design

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OE Docking Sequence

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Christiansen and Nilson, “Docking Systems Mechanism Utilized on Orbital Express Program” 39th Aerospace Mechanisms Symposium, May 2008

Orbital Express Demonstration Manipulator System

• MDA developed the Orbital Express Autonomous Robotic Manipulator System comprising the following space and ground elements: – Small next generation Robotic arm on ASTRO

with avionics and autonomous vision system – Grapple fixtures and vision target for

Free-Flyer Capture and ORU transfer – Mating interface camera and lighting system – Standard, non-proprietary ORU containers and mating

interfaces – Proximity-Ops lighting system – Autonomous Software – Robotic Ground Segment

Length 3m

Mass 71kg

Volume 65cm x 49cm x 186cm

Power 131 watts

DOF 6

Manipulator Arm Specifics

http://sm.mdacorporation.com/what_we_do/oe_7.html

Free-Flyer Capture

Robotic Arm on ASTRO will drive

autonomously using highly-reliable vision

feedback from a camera at its tip to capture NEXTSat

http://sm.mdacorporation.com/what_we_do/oe_4.html http://sm.mdacorporation.com/what_we_do/oe_2.html

Berthing requires the advanced robotic arm to grapple NEXTSat from a

distance of 1.5 m and position it within the

capture envelope

http://www.boeing.com/ids/advanced_systems/orbital/pdf/orbital_express_demosys_18.pdf

Space Robotics and Vehicle Interfaces ENAE 483/788D - Principles of Space Systems Design

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Robonaut

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Space Robotics and Vehicle Interfaces ENAE 483/788D - Principles of Space Systems Design

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Robonaut Using Human Interfaces

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Space Robotics and Vehicle Interfaces ENAE 483/788D - Principles of Space Systems Design

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Robonaut on Sliding Stand On-Orbit

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Space Robotics and Vehicle Interfaces ENAE 483/788D - Principles of Space Systems Design

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Robonaut with Legs On-Orbit

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Space Robotics and Vehicle Interfaces ENAE 483/788D - Principles of Space Systems Design

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RESTORE Dexterous Manipulator

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Space Robotics and Vehicle Interfaces ENAE 483/788D - Principles of Space Systems Design

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RESTORE End Effector Interchange

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Space Robotics and Vehicle Interfaces ENAE 483/788D - Principles of Space Systems Design

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RESTORE End Effector Interchange

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John T. Dorsey, NASA Langley Research Center, (757) 864-3108, john.t.dorsey@nasa.gov

The Tendon-Actuated Lightweight In-Space MANipulator (TALISMAN): An Enabling Capability for In-Space Servicing

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Presented To: ATLAST Seminar Series

John T. Dorsey NASA Langley Research Center

November 18, 2015

John T. Dorsey, NASA Langley Research Center, (757) 864-3108, john.t.dorsey@nasa.gov

New Approach: Tendon Actuated Lightweight In-Space MANipulator (TALISMAN)

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Truss Link

Hinge Joint

Motor/GearboxActuation Cables

Spreader

What Is New In This Approach? •Tendon and spreader architecture: high gear ratio and mechanical advantage, lightweight motor/gearboxes •Tendon architecture: low joint compliance and mass •Tension/compression structural elements: minimize structural mass •Actuation tendons: also provide stiffening for the structure •Lightweight joints: number can be optimized to increase dexterity and/or packaging efficiency •Tendon actuation: full or semi antagonistic control options possible •Design: modular and scalable making it versatile to many applications

John T. Dorsey, NASA Langley Research Center, (757) 864-3108, john.t.dorsey@nasa.gov

TALISMAN vs. Shuttle Remote Manipulator System

Design Parameter SRMS TALISMAN

Total manipulator length 15.3 m (50 ft) 15.3 m (50 ft)Number of joints in manipulator 6 (2 shoulder, 1 elbow, 3 wrist) 5 (2 base, 3 joints)

Number of links in manipulator 2 4Tube/Link System Mass [kg] 46 kg (101.4 lbf) 7.03 kg (15.5 lbf)Manipulator Mass 410 kg (904 lbf) 36.1 kg (79.6 lbf)Packaged Volume 1.74 m3 (61.4 ft3) 0.23 m3 (8 ft3)

Talisman compared to SRMS: < 1/10th mass and < 1/7th the volume (Talisman does not include an end-effector)

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Shuttle Remote Manipulator Envelope

Shuttle Remote Manipulator Composite Tube Diameter

Space Robotics and Vehicle Interfaces ENAE 483/788D - Principles of Space Systems Design

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Ranger Telerobotic Flight Experiment

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Space Robotics and Vehicle Interfaces ENAE 483/788D - Principles of Space Systems Design

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Ranger Telerobotic Shuttle Experiment

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Space Robotics and Vehicle Interfaces ENAE 483/788D - Principles of Space Systems Design

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Ranger Flight Dexterous Arms

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Space Robotics and Vehicle Interfaces ENAE 483/788D - Principles of Space Systems Design

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Dexterous Arm Parameters• Modular arm with co-located electronics

– Embedded 386EX rad-tolerant processors – Only power and 1553 data passed along arm

• 53 inch reach mounting plate-tool interface plate • 8 DOF with two additional tool drives (10

actuators) • Interchangeable end effector with secure tool

exchange • 30 pounds tip force, full extension • 150 pounds (could be significantly reduced) • 250 W (average 1G ops)

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Space Robotics and Vehicle Interfaces ENAE 483/788D - Principles of Space Systems Design

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Ranger-SMEX-Lite Concept

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Space Robotics and Vehicle Interfaces ENAE 483/788D - Principles of Space Systems Design

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Ranger on SMV

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Space Robotics and Vehicle Interfaces ENAE 483/788D - Principles of Space Systems Design

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SM4R(obotic) Concept Overview

Ranger Telerobotic Servicing SystemUniversity of Maryland

HST SM4 Servicing HardwareNASA Goddard

Interim Control ModuleNaval Research Laboratory

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Space Robotics and Vehicle Interfaces ENAE 483/788D - Principles of Space Systems Design

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Hubble Space Telescope Servicing

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Space Robotics and Vehicle Interfaces ENAE 483/788D - Principles of Space Systems Design

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Results of Ranger Hubble Servicing• Over four months of active project, Ranger

performed all major servicing operations planned for SM-4

• Significant performance impacts found in selected architecture – MDA OTCM size makes operations in confined

volumes difficult – Manipulator and robot body sized preclude close

access to most ORUs other than “reaching in” – Insufficient time to fully implement compliant

control in this configuration • Most of the issues were mitigated in original Ranger

servicing proposal

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Space Robotics and Vehicle Interfaces ENAE 483/788D - Principles of Space Systems Design

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Ranger Spacecraft Servicing System

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Space Robotics and Vehicle Interfaces ENAE 483/788D - Principles of Space Systems Design

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MODSS Concept• Miniature On-orbit

Dexterous Servicing System • Maintain essential

capabilities of Ranger for dexterous servicing – Human-compatible servicing

tasks – Interchangeable end effectors – Free-flying spacecraft bus

• Shrink system to technological minimums (target: 100 kg total)

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Space Robotics and Vehicle Interfaces ENAE 483/788D - Principles of Space Systems Design

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MODSS Dexterous Manipulator Concepts

Modular Roll/Pitch/Arm Link with Embedded Controller

Modular Actuator Design

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Space Robotics and Vehicle Interfaces ENAE 483/788D - Principles of Space Systems Design

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Completed Pitch-Roll Module Prototype

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Space Robotics and Vehicle Interfaces ENAE 483/788D - Principles of Space Systems Design

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Comparison to Ranger Technology• 6-DOF dexterous arm

– 10 kg (22 lbm) arm mass – 84 mm (3.3 in) diameter – 75 cm (30 in) length – 53 N (12 lbf) tip force

• Modular actuator data – 67 N-m (40 ft-lbf) actuator torque – 2.1 kg (4.6 lbm) module mass

• 10-DOF dexterous arm – 77 kg (170 lbm) arm mass – 135 mm (5.375 in) diameter – 135 cm (53 in) length – 133 N (30 lbf) force • Elbow actuator data

– 81 N-m (60 ft-lbf) actuator torque – 19.7 kg (43.3 lb) module mass

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Space Robotics and Vehicle Interfaces ENAE 483/788D - Principles of Space Systems Design

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MODSS System Mass EstimatesComponent Mass (kg) Dexterous Manipulators 2x7 Grappling Arm 15 End Effectors 4x2 Pan/Tilt Unit 2 Power Systems 24 Avionics 6 Spacecraft Bus Structures 10 Propulsion System 5 Propellants 7 Margin 9

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Space Robotics and Vehicle Interfaces ENAE 483/788D - Principles of Space Systems Design

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DYMAFLEX in Parabolic Flight

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Space Robotics and Vehicle Interfaces ENAE 483/788D - Principles of Space Systems Design

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Docking and Berthing• Docking: free-flight into a rigidizable connection

– Higher energy and misalignment – Greater autonomy for visiting vehicle – Always used for human vehicles

• Berthing: – Grapple by a manipulator – Moved into position for a rigid connection – Higher operational overhead – Greater precision and lower energy – Generally used for system assembly

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Space Robotics and Vehicle Interfaces ENAE 483/788D - Principles of Space Systems Design

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Apollo-Soyuz Docking Interface

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Space Robotics and Vehicle Interfaces ENAE 483/788D - Principles of Space Systems Design

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Androgynous Peripheral Attach System

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Space Robotics and Vehicle Interfaces ENAE 483/788D - Principles of Space Systems Design

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APAS Test Hardware (JSC)

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Space Robotics and Vehicle Interfaces ENAE 483/788D - Principles of Space Systems Design

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Russian Probe-Drogue Docking System

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Space Robotics and Vehicle Interfaces ENAE 483/788D - Principles of Space Systems Design

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International Docking System Face

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Space Robotics and Vehicle Interfaces ENAE 483/788D - Principles of Space Systems Design

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IDS Side View

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Space Robotics and Vehicle Interfaces ENAE 483/788D - Principles of Space Systems Design

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IDS Soft Capture Features

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Space Robotics and Vehicle Interfaces ENAE 483/788D - Principles of Space Systems Design

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Crew Dragon Docking Interface

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IDS Maximum Loads

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Common Berthing Mechanism

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Common Berthing Mechanism

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CBM on Dragon 1 Cargo Vehicle

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Space Robotics and Vehicle Interfaces ENAE 483/788D - Principles of Space Systems Design

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CBM Nominal Hatch Size

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Space Robotics and Vehicle Interfaces ENAE 483/788D - Principles of Space Systems Design

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BEAM Reduced Hatch Size

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Space Robotics and Vehicle Interfaces ENAE 483/788D - Principles of Space Systems Design

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Artemis Hatch Requirement

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EVA-EXP-0070 HLS EVA Compatibility IRD

Space Robotics and Vehicle Interfaces ENAE 483/788D - Principles of Space Systems Design

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Contingency Requirements

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EVA-EXP-0070 HLS EVA Compatibility IRD

Space Robotics and Vehicle Interfaces ENAE 483/788D - Principles of Space Systems Design

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ISS Cupola

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Space Robotics and Vehicle Interfaces ENAE 483/788D - Principles of Space Systems Design

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Windows

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NASA-STD-3001, Vol. 2, Rev. B

Space Robotics and Vehicle Interfaces ENAE 483/788D - Principles of Space Systems Design

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ISS Cupola Window Cross-Section

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Space Robotics and Vehicle Interfaces ENAE 483/788D - Principles of Space Systems Design

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How to Spend Your Time Off in ISS

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