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TINA Small Force-Controlled Robotic Arm for Exploration and Small Satellites

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TINA Small Force-Controlled Robotic Arm for Exploration and Small Satellites DLR.de/en TINA Small force-controlled robotic arm for exploration and small satellites Brief description The robotic arm TINA is a four-axis space demonstrator to investigate autonomous operations during exploration missions on Earth. Aims The aim of the research project is to demonstrate the technology needed for a small, force-controlled robotic arm for use in space. By selecting specific components, it is possible to use TINA in Parties involved microgravity conditions as well as on Earth. DLR Institute of Robotics and Mechatronics Applications Facts and figures - Exploration, rover - Degrees of freedom: up to 7 - Controller: hard real time - Small satellites - Size: up to 2 m long - Radiation hardness: - Weight: 1.6 kg per joint various levels possible - Data transmission: - Tools: different end effectors can be Spacewire selected - Data rate: 3kHz - Supply voltage: +20V to +70V @DLR_en DLR.de/en TINA Small force-controlled robotic arm for exploration and small satellites The design of TINA follows the ‘qualifiable’ philosophy of DEXHAND [1], which uses industrial-grade compo- nents with a similar performance to their space equivalents and follows the ECSS guidelines closely, or uses the industrial-grade versions of radiation-hardened electronic components. This philosophy ensures that the transition to a fully qualified design can be achieved with a minimum number of changes. It also provides an almost perfect version for thermal and EMI modelling. Another big advantage is the low price compared to the fully qualified, radiation-hardened version, which allows the construction of multiple test arms for grasp- ing, object handling and many other applications. Each joint is made up of a brushless DC motor in combination with a resolver for commutation and position sensing, a harmonic drive gearbox, a brake for safety reasons and a torque sensor to give TINA the ability to ‘feel’. Due to the torque sensor, the robot not only has high positioning accuracy, it can also detect if it is touching an object and then immediately stop its movement. The resolver on the link side enables high positional accuracy for the end effector. Controlled by a SOC, each joint has a microcontroller and a FPGA. The field-oriented control of the motor is realised in the FPGA. The microcontroller functions are limited to simple management and logging. This ar- chitecture guarantees hard real-time behaviour and offers exceptional flexibility with respect to the auxiliary functions. The communication between the joints and the OBC uses SpaceWire with a three kHz cycle time. The joints accept a single +20V to +70V supply or two separate supplies, one for the logic and one for the motor; this gives greater efficiency. [1] https://www.dlr.de/rm/en/desktopdefault.aspx/tabid-9656/16605_read-40532/ Deutsches Zentrum für Luft- und Raumfahrt (DLR) German Aerospace Center @DLRen Maximilian Maier · Email [email protected] · DLR.de/en DLR.de/en INTEGRATION OF COMMERCIAL SPACEFLIGHT INTO THE AIR TRANSPORT SYSTEM Interoperable data exchange for safe and efficient launch and re-entry operations Brief description The FAA Office of Commercial Space Transportation and DLR are seek- ing to identify the data that may need to be exchanged between United States and European Air Navigation Service Providers (ANSPs) prior to, during and after a space launch or re-entry operation that is initiated in one country and traverses the airspace of another country. This data ex- change should facilitate improved situational awareness, allowing US and European ANSPs to respond as necessary in the event of a vehicle failure. Aims Develop and conduct collaborative demonstrations of the exchange of key data between ANSPs. This will facilitate the safe and efficient Parties involved management of global airspace during launch and re-entry opera- tions. The demonstration of simulated real-world scenarios will result DLR Institute of Flight Guidance in the identification of key parameters for exchange in reaction to FAA Office of Commercial Space Trans- time-critical non-nominal events. portation Applications Outlook Facts and figures - Improved situational aware- - Improve situational awareness - The number and type of commercial ness for ANSPs during launch and safety space launches and re-entry operations and re-entry operations - Enable efficient operation of is continuously increasing at a global - Improved ability to respond an increasing number of com- level to non-nominal scenarios in mercial launch and re-entry - Initial attempt by the FAA and DLR to a manner that addresses the operations share their unique capabilities using the potential hazards to public - Develop interoperability of Commercial Space Integration Lab and safety global air and space traffic Air Traffic Validation Center, located in management systems the USA and Germany respectively - Develop the digitalisation/auto- - Leverage existing international data mation of spaceflight planning standards and infrastructure by using and monitoring processes a data exchange approach based on System Wide Information Management (SWIM) @DLR_en DLR.de/en COMMERCIAL SPACE INTEGRATION INTO THE AIR TRAFFIC SYSTEM Interoperable data exchange for safe and efficient launch and reentry operations The FAA and DLR are cooperating on a demonstration that will exchange launch and re-entry data to determine the usability of the exchange process within the global airspace environment. This joint activi- ty is aimed at facilitating improved situational awareness, allowing ANSPs to respond as necessary in the event of a launch or re-entry failure. Through a series of operational scenarios, the exchange of launch and re-entry vehicle data will be demonstrated and the effectiveness of the exchanged data will be assessed for non-nominal events during a launch to orbit or re-entry from orbital operations. The demonstration’s technical solution will utilise System Wide Information Management (SWIM) core services. The key data parameters will enable information sharing among the various users and stakeholders in the air transport system, allowing for improved accuracy and availability of flight information updates, consistency of flight planning in different Air Traffic Management (ATM) system domains, and safer transition of flights between the affected domains. Deutsches Zentrum für Luft- und Raumfahrt (DLR) German Aerospace Center Sven Kaltenhaeuser · E-Mail [email protected] · DLR.de/en @DLRen Dirk-Roger Schmitt · E-Mail [email protected] · DLR.de/en DLR.de/en Compact Modular Motor Controller Three phase brushless DC motor driver for space environment Brief description The small, highly integrated 300W Compact Motor Controller is ideal for small mechanisms, small robotic arms, pan-tilt units and similar ap- plications. It has a position sensing interface and three phase current sensing stage for high level current control. Objectives The aim of the research project is the development of a modular motor controller for future use in robotic space missions, such as MASCOT on board Hayabusa2. Parties involved DLR Institute of Robotcs and Mechatronics Applications Facts and figures - Small mechanisms, - Size: 67mm x 111mm - Radiation: up to 40kRad - Small robotic arms - Digital Voltage: +12V DC SEL LET threshold of 80 - Pan-tilt units - Power Voltage: +12V to +70V DC MEV*cm2/mg - Rover - Motor Current: Up to 10A - Control Feedback: field oriented - Similar applications - Communication: CAN; UART; control; six-step commutation; EtherCat; Spacewire; Ethernet sliding mode controller - Position Feedback: Resolver; - Unique Features: external motor Potentiometer; Digital Encoder redundancy switching - Auxiliary Sensor Interface: Force Torque Sensor @DLR_en Factsheet_Motor Controller_GB_7663639.indd 1 19.03.19 09:34 DLR.de/en Compact Modular Motor Controller Three phase brushless DC motor driver for space environment The small, highly integrated 300-watt compact motor controller is a newly developed, three-phase brushless DC motor drive for use in space. With the experience gained during drivetrain development for MASCOT, which is DLR’s microlander contribution to JAXA’s Hayabusa2 mission, the need for radiation-hardened and compact motion-controller electronics was recognised. Taking into consideration the growing interest in microlander systems as well as small and lightweight mechatronic components for space robotics and exploration, the decision was made to continue development in order to evolve a modular controller that meets the needs of future missions. It is ideal for small mechanisms, small robotic arms, pan-tilt units and similar applications. It offers a rich set of analogue and digital interfaces that can be used for absolute posi- tion-sensing circuits, such as resolvers or magnetoresistive sensors. A commutation interface for Hall sensors is also available, as well as an integrated bridge driver with active current limiting. In addition to the sophis- ticated position-sensing interface, a three-phase current-sensing stage has been developed. This allows the implementation of high-level current control, i.e. field-oriented control methods. These control methods optimise the dynamic performance of the actuator while reducing the power consumption and the system noise of the motor-supply stage. The board features a fault-tolerant soft-core processor, as well as redundant motor and resolver interfaces. The redundant motor interface allows the connection of two controller boards to one motor without electrical crosstalk.
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