A Robotically Assembled and Serviced Science Station for Earth Observations

Mukherjee, Rahul; Backus, Spencer; Setterfield, Timothy P.; Brinkman, Alexander; Agnes, Gregory S.; Sunada, Eric; Kim, Jung Gon; Emanuel, Blair; Smith, Russell J.; Hyon, Jason J.; Chappell, Laurie; Lymer, J.; Tadros, Alfred

doi:10.1109/aero47225.2020.9172368

Cited by 4 publications

(2 citation statements)

References 6 publications

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“…This application -named MIRROR (Multi-arm Installation Robot for Readying ORUs and Reflectors) -is pursued by the European Space Agency (ESA). The multi-arm design and the dexterity of the MARM robot make the platform suitable for different types of space applications such as manufacturing and assembly [6], servicing utilizing in-situ resources [7], [8], berthing and catching of satellites [9]. Similarly to Canadarm2/ERA robots, MARM should be able to relocate itself on the space station by crawling.…”

Section: And the Europeanmentioning

confidence: 99%

Design and Validation of a Multi-Arm Relocatable Manipulator for Space Applications

Hoffman¹,

Laurenzi²,

Ruscelli³

et al. 2023

Preprint

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This work presents the computational design and validation of the Multi-Arm Relocatable Manipulator (MARM), a three-limb robot for space applications, with particular reference to the MIRROR (i.e., the Multi-arm Installation Robot for Readying ORUs and Reflectors) use-case scenario as proposed by the European Space Agency.A holistic computational design and validation pipeline is proposed, with the aim of comparing different limb designs, as well as ensuring that valid limb candidates enable MARM to perform the complex loco-manipulation tasks required. Motivated by the task complexity in terms of kinematic reachability, (self)-collision avoidance, contact wrench limits, and motor torque limits affecting Earth experiments, this work leverages on multiple state-of-art planning and control approaches to aid the robot design and validation. These include sampling-based planning on manifolds, non-linear trajectory optimization, and quadratic programs for inverse dynamics computations with constraints. Finally, we present the attained MARM design and conduct preliminary tests for hardware validation through a set of lab experiments.

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Section: And the Europeanmentioning

confidence: 99%

Design and Validation of a Multi-Arm Relocatable Manipulator for Space Applications

Hoffman¹,

Laurenzi²,

Ruscelli³

et al. 2023

Preprint

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show abstract

“…This task can be achieved by launching a formation of multiple satellites, but it brings huge costs. At the same time, the collaborative control between formation satellites has become a major challenge for on orbit management [2] .…”

Section: Introductionmentioning

confidence: 99%

Overall design of remote sensing large-platform satellite for on orbit assembly and maintenance

Zhao

et al. 2023

Ninth Symposium on Novel Photoelectronic Detection Technology and Applications

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Aiming at the envelope constraint problem of carrier rocket fairing, based on the design idea of on orbit assembly and maintenance, in this paper a general design scheme of a remote sensing large-platform satellite (RSLPS) that can realize large scale multi-load collaborative observation is proposed. The basic process of on orbit assembly is introduced, and the composition, structural form and technical principle of the universal interface design, micro vibration control design and thermal deformation control design of the load platform are expounded. The proposed design scheme provides a valuable choice for the research of RSLPS based on on orbit assembly and maintenance.

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Concept and Validation of Autonomous Robotic Assembly of Antenna from ESPA Class Spacecraft

Daca,

de Mola Lemus,

Backus

et al. 2024

2024 IEEE Aerospace Conference

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A Robotically Assembled and Serviced Science Station for Earth Observations

Cited by 4 publications

References 6 publications

Design and Validation of a Multi-Arm Relocatable Manipulator for Space Applications

Design and Validation of a Multi-Arm Relocatable Manipulator for Space Applications

Overall design of remote sensing large-platform satellite for on orbit assembly and maintenance

Concept and Validation of Autonomous Robotic Assembly of Antenna from ESPA Class Spacecraft

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