Space Robotics1

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PRESENTED BY:

PARUL YADAV

MECHANICAL ENGINEERING


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Space robotics is the development of machines for the space environment that

performs Exploration, or to Assemble,Construct, Maintain or Service otherhardware in space.Humans generally control space robotslocally (e.g.space shuttle robotic arm) or froma great distance (e.g. Mars exploration Rover)


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Perform tasks less expensively, sooner, and/orwith less risk or more delicate "touch" than

with human astronauts Go where people cant go (within reason),and for long durationsSpace is a hazardous environmentAccess to space is expensiveRobots don't need to return to Earth (whichcan be very costly)task less expensibly


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All space robots are basically quitesimilar, in that each has a controller,sensors,actuator,Radio communicationsand a power supply.The sensors provideinformation about the robot environment

GROUNDCONTROL

RADIOLINK CONTROLLER

SENSORS

POWER

SUPPLY

ACTUATOR

DRIVE


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The controller process the information fromthe sensors and instruction radioed from the

ground control, and sends appropriatecommand signal to the actuators. The actuatorand drive convert the command into actions.


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MOBILITY: Need to plan paths thatmove quickly and accurately between 2

points without collisions or putting robot orworksite elements at risk.MANIPULATION: using arms and hands tocontact worksite elements safely, quickly, andaccurately without accidentally contactingunintended objects or imparting excessiveforces beyond those needed for the task,


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TIME DELAY: allowing a distant human toeffectively command the robot to do useful

work.ENVIRONMENTS: operating despite intenseheat or cold, ionizing radiation, hard vacuum,corrosive atmospheres, very fine dust, etc.


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In-orbit positioning and assembly: Fordeployment of satellite and for assembly of

modules to satellite/space station.Operation: For conducting experiments inspace lab.Maintenance: For removal and replacementof faulty modules/packages.Resupply: For supply of equipment, materialsfor experimentation in spacelab and for theresupply of fuel.


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ROBONAUTRobonaut is an "astronaut-equivalent",

highly dexterous robot that can use all thesame tools, handholds and other equipmentthat astronauts in space suits can use; it canbe teleoperated by nearby humans (e.g. in a

spacecraft or habitat), operate autonomously via multi-second time delay, or perform as anassistant in collaboration with suitedastronauts


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VIKING PROGRAM: It consisted of a pair of American space probes sent to Mars, Viking 1

and Viking 2. Each spacecraft was composedof two main parts, an orbiter designed tophotograph the surface of Mars from orbit,and a lander designed to study the planetfrom the surface..It was the most expensive and ambitiousmission ever sent to Mars, with a total cost of


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roughly US$1 billion. It was highly successfuland formed most of the database of information

about Mars until the late 1990s and early 2000s


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SOJURNER : It was launched on December 4,1996 and reached Mars on July 4, 1997,

directly entering the planet's atmosphere andbouncing on inflated airbags. MarsPathfinder was designed to be ademonstration of the technology necessary todeliver a lander and a free-ranging roboticrover to the surface of Mars in a cost-effective and efficient manner. Pathfinder not


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only accomplished this goal but also returnedan unprecedented amount of data and outlived

its primary design life. The entire project costroughly $280 million according to NASAestimates.


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ROVER:Spirit, MER-A (Mars Exploration Rover A), is

a robotic rover on Mars, active from 2004 to2010. It landed successfully on mars on january 4, 2004.Spirit is six-wheeled, solar-powered robotsstanding 1.5 m (4.9 ft) high, 2.3 m (7.5 ft) wideand 1.6 m (5.2 ft) long and weighing 180 kg.


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Its 20 MHz RAD6000 CPU with 128 MB of DRAM controls both a low-gain and high-

gain antenna for communication with theMars Odyssey satellite or directly with Earth.There are a total of nine cameras on eachrover, along with a exploratory arm equippedwith a pair of spectrometers, magnets,microscopic imaging device and a rock abrasion tool.


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In the future, robot will make it possible forbillions of people to have life of leisure

instead of current preoccupation withmaterials needs. There are hundreds of millions who are now facinated by space butdo not have the means to explore it. For themthe space robotics will throw open the door toexplore and experience the universe.


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Space Robotics1