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

1

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

http://spacecraft.ssl.umd.edu



Shuttle Remote Manipulator System

2



RMS Wrist Mechanisms

3



RMS Grapple Fixture and Target

4



Shuttle RMS Grapple Tolerances

5



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

6



Shuttle RMS Grapple Procedure (1)

7




8




9



Space Station Remote Manipulator

10



Space Station Remote Manipulator

11



Space Station RMS - Canadarm II

12



SSRMS Latching End Effector

13

https://youtu.be/QqgxfFlQ3D0

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



ISS Power Data Grapple Fixture

14



Special Purpose Dexterous Manipulator

15




16




17



SPDM - Dextre

18



SPDM Orbital Tool Changeout Mechanism

19



European Robotic Arm

20



Japanese Exposed Facility Robotics

21



JEM Remote Manipulator System

22



JEM Small Fine Arm

23



DARPA Orbital Express

24



Orbital Express Demo Manipulator System

25



OE Docking System Design Requirements

26



OE Docking System

27

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



OE Docking Sequence

28

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



Robonaut

31



Robonaut Using Human Interfaces

32



Robonaut on Sliding Stand On-Orbit

33



Robonaut with Legs On-Orbit

34



RESTORE Dexterous Manipulator

35



RESTORE End Effector Interchange

36



RESTORE End Effector Interchange

37

John T. Dorsey, NASA Langley Research Center, (757) 864-3108, [email protected]

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

38

Presented To: ATLAST Seminar Series

John T. Dorsey NASA Langley Research Center

November 18, 2015


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

39

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


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)

40

Shuttle Remote Manipulator Envelope

Shuttle Remote Manipulator Composite Tube Diameter



Ranger Telerobotic Flight Experiment

41



Ranger Telerobotic Shuttle Experiment

42



Ranger Flight Dexterous Arms

43



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)

44



Ranger-SMEX-Lite Concept

45



Ranger on SMV

46



SM4R(obotic) Concept Overview

Ranger Telerobotic Servicing SystemUniversity of Maryland

HST SM4 Servicing HardwareNASA Goddard

Interim Control ModuleNaval Research Laboratory

47



Hubble Space Telescope Servicing

48



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

49



Ranger Spacecraft Servicing System

50



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)

51



MODSS Dexterous Manipulator Concepts

Modular Roll/Pitch/Arm Link with Embedded Controller

Modular Actuator Design

52



Completed Pitch-Roll Module Prototype

53



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

54



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

55



DYMAFLEX in Parabolic Flight

56



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

57



Apollo-Soyuz Docking Interface

58



Androgynous Peripheral Attach System

59



APAS Test Hardware (JSC)

60



Russian Probe-Drogue Docking System

61



International Docking System Face

62



IDS Side View

63



IDS Soft Capture Features

64



Crew Dragon Docking Interface

65



IDS Maximum Loads

66



Common Berthing Mechanism

67



Common Berthing Mechanism

68



CBM on Dragon 1 Cargo Vehicle

69



CBM Nominal Hatch Size

70



BEAM Reduced Hatch Size

71



Artemis Hatch Requirement

72

EVA-EXP-0070 HLS EVA Compatibility IRD



Contingency Requirements

73

EVA-EXP-0070 HLS EVA Compatibility IRD



ISS Cupola

74



Windows

75

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



ISS Cupola Window Cross-Section

76



How to Spend Your Time Off in ISS

77

Documents

Space Robotics and Vehicle Interfaces - UMD