Space Robotics and Vehicle Interfaces • Lecture #25 – November 24, 2020 • Robotic systems • Docking and berthing interfaces • Windows © 2020 David L. Akin - All rights reserved http://spacecraft.ssl.umd.edu U N I V E R S I T Y O F Space Robotics and Vehicle Interfaces ENAE 483/788D - Principles of Space Systems Design MARYLAND 1 Shuttle Remote Manipulator System U N I V E R S I T Y O F Space Robotics and Vehicle Interfaces ENAE 483/788D - Principles of Space Systems Design MARYLAND 2 RMS Wrist Mechanisms U N I V E R S I T Y O F Space Robotics and Vehicle Interfaces ENAE 483/788D - Principles of Space Systems Design MARYLAND 3 RMS Grapple Fixture and Target U N I V E R S I T Y O F Space Robotics and Vehicle Interfaces ENAE 483/788D - Principles of Space Systems Design MARYLAND 4 Shuttle RMS Grapple Tolerances U N I V E R S I T Y O F Space Robotics and Vehicle Interfaces ENAE 483/788D - Principles of Space Systems Design MARYLAND 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 U N I V E R S I T Y O F Space Robotics and Vehicle Interfaces ENAE 483/788D - Principles of Space Systems Design MARYLAND 6 Shuttle RMS Grapple Procedure (1) U N I V E R S I T Y O F Space Robotics and Vehicle Interfaces ENAE 483/788D - Principles of Space Systems Design MARYLAND 7 Shuttle RMS Grapple Procedure (2) U N I V E R S I T Y O F Space Robotics and Vehicle Interfaces ENAE 483/788D - Principles of Space Systems Design MARYLAND 8 Shuttle RMS Grapple Procedure (3) U N I V E R S I T Y O F Space Robotics and Vehicle Interfaces ENAE 483/788D - Principles of Space Systems Design MARYLAND 9 Space Station Remote Manipulator U N I V E R S I T Y O F Space Robotics and Vehicle Interfaces ENAE 483/788D - Principles of Space Systems Design MARYLAND 10 Space Station Remote Manipulator U N I V E R S I T Y O F Space Robotics and Vehicle Interfaces ENAE 483/788D - Principles of Space Systems Design MARYLAND 11 Space Station RMS - Canadarm II U N I V E R S I T Y O F Space Robotics and Vehicle Interfaces ENAE 483/788D - Principles of Space Systems Design MARYLAND 12 SSRMS Latching End Effector Great (short) video of SSRMS latching end effector in action: https://youtu.be/QqgxfFlQ3D0 U N I V E R S I T Y O F Space Robotics and Vehicle Interfaces ENAE 483/788D - Principles of Space Systems Design MARYLAND 13 ISS Power Data Grapple Fixture U N I V E R S I T Y O F Space Robotics and Vehicle Interfaces ENAE 483/788D - Principles of Space Systems Design MARYLAND 14 Special Purpose Dexterous Manipulator U N I V E R S I T Y O F Space Robotics and Vehicle Interfaces ENAE 483/788D - Principles of Space Systems Design MARYLAND 15 Special Purpose Dexterous Manipulator U N I V E R S I T Y O F Space Robotics and Vehicle Interfaces ENAE 483/788D - Principles of Space Systems Design MARYLAND 16 Special Purpose Dexterous Manipulator U N I V E R S I T Y O F Space Robotics and Vehicle Interfaces ENAE 483/788D - Principles of Space Systems Design MARYLAND 17 SPDM - Dextre U N I V E R S I T Y O F Space Robotics and Vehicle Interfaces ENAE 483/788D - Principles of Space Systems Design MARYLAND 18 SPDM Orbital Tool Changeout Mechanism U N I V E R S I T Y O F Space Robotics and Vehicle Interfaces ENAE 483/788D - Principles of Space Systems Design MARYLAND 19 European Robotic Arm U N I V E R S I T Y O F Space Robotics and Vehicle Interfaces ENAE 483/788D - Principles of Space Systems Design MARYLAND 20 Japanese Exposed Facility Robotics U N I V E R S I T Y O F Space Robotics and Vehicle Interfaces ENAE 483/788D - Principles of Space Systems Design MARYLAND 21 JEM Remote Manipulator System U N I V E R S I T Y O F Space Robotics and Vehicle Interfaces ENAE 483/788D - Principles of Space Systems Design MARYLAND 22 JEM Small Fine Arm U N I V E R S I T Y O F Space Robotics and Vehicle Interfaces ENAE 483/788D - Principles of Space Systems Design MARYLAND 23 DARPA Orbital Express U N I V E R S I T Y O F Space Robotics and Vehicle Interfaces ENAE 483/788D - Principles of Space Systems Design MARYLAND 24 Orbital Express Demo Manipulator System U N I V E R S I T Y O F Space Robotics and Vehicle Interfaces ENAE 483/788D - Principles of Space Systems Design MARYLAND 25 OE Docking System Design Requirements U N I V E R S I T Y O F Space Robotics and Vehicle Interfaces ENAE 483/788D - Principles of Space Systems Design MARYLAND 26 OE Docking System Christiansen and Nilson, “Docking Systems Mechanism Utilized on Orbital Express Program” 39th Aerospace Mechanisms Symposium, May 2008 U N I V E R S I T Y O F Space Robotics and Vehicle Interfaces ENAE 483/788D - Principles of Space Systems Design MARYLAND 27 OE Docking Sequence Christiansen and Nilson, “Docking Systems Mechanism Utilized on Orbital Express Program” 39th Aerospace Mechanisms Symposium, May 2008 U N I V E R S I T Y O F Space Robotics and Vehicle Interfaces ENAE 483/788D - Principles of Space Systems Design MARYLAND 28 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 Manipulator Arm Volume 65cm x 49cm x 186cm Specifics Power 131 watts DOF 6 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 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 http://sm.mdacorporation.com/what_we_do/oe_4.html http://sm.mdacorporation.com/what_we_do/oe_2.html Robonaut U N I V E R S I T Y O F Space Robotics and Vehicle Interfaces ENAE 483/788D - Principles of Space Systems Design MARYLAND 31 Robonaut Using Human Interfaces U N I V E R S I T Y O F Space Robotics and Vehicle Interfaces ENAE 483/788D - Principles of Space Systems Design MARYLAND 32 Robonaut on Sliding Stand On-Orbit U N I V E R S I T Y O F Space Robotics and Vehicle Interfaces ENAE 483/788D - Principles of Space Systems Design MARYLAND 33 Robonaut with Legs On-Orbit U N I V E R S I T Y O F Space Robotics and Vehicle Interfaces ENAE 483/788D - Principles of Space Systems Design MARYLAND 34 RESTORE Dexterous Manipulator U N I V E R S I T Y O F Space Robotics and Vehicle Interfaces ENAE 483/788D - Principles of Space Systems Design MARYLAND 35 RESTORE End Effector Interchange U N I V E R S I T Y O F Space Robotics and Vehicle Interfaces ENAE 483/788D - Principles of Space Systems Design MARYLAND 36 RESTORE End Effector Interchange U N I V E R S I T Y O F Space Robotics and Vehicle Interfaces ENAE 483/788D - Principles of Space Systems Design MARYLAND 37 The Tendon-Actuated Lightweight In-Space MANipulator (TALISMAN): An Enabling Capability for In-Space Servicing 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, [email protected] 38 New Approach: Tendon Actuated Lightweight In-Space MANipulator (TALISMAN) Spreader Truss Link Hinge Joint Actuation Cables Motor/Gearbox 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 John•Design: T. Dorsey, NASA modular Langley Research andCenter, (757) scalable 864-3108, [email protected] making it versatile to many applications 39 TALISMAN vs. Shuttle Remote Manipulator System Shuttle Remote Manipulator Envelope Shuttle Remote Manipulator Composite Tube Diameter 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 4 Tube/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) John T.