7th ESA Workshop on Advanced Space Technologies for Robotics and Automation ASTRA 2002 Robotic Assembly of Large Space Structures: Application to XEUS R. Licata(1), M. Parisch(1), I.J. Ruiz Urien(2), M. De Bartolomei(3), G. Grisoni(4), F. Didot(5) (1)ALENIA Spazio,Turin, Italy;
[email protected] (2)SENER, Bilbao, Spain;
[email protected] (3)Tecnospazio, Milan, Italy;
[email protected] (4)Media Lario, Lecco, Italy:
[email protected] (5)ESTEC, The Netherlands;
[email protected] INTRODUCTION In-orbit robotic assembly and/or maintenance is an enabling technology for large space structures that, due to their substantial mass or dimensions, cannot be assembled on ground and hence be transported into space with conventional space vehicles The objectives of the Robotic Assembly of Large Space Structure (RALSS) ESA-Study, conducted by Alenia Spazio in the years 2001-2002, as Prime Contractor, with SENER and Tecnospazio as Sub- contractors, are related to this important technology or topic development, starting with some detailed analysis of the first important example of this type of activity, that is the on- going International Space Station (ISS) in-orbit build-up or assembly. During the ESA RALSS study development, detailed investigation has been conducted for the design and the application of the robotic assembly on the ISS of the required Mirror Sectors (MS) for the large Mirror Spacecraft Figure 1: XEUS Mission Illustration needed for the second phase of the XEUS mission, called · to perform cinematic simulations of these XEUS hand- XEUS-2. over and assembly operations at ISS.