Advances in Robotic Servicing Technology Development

Gefke, Gardell; Janas, Alex; Pellegrino, Joseph; Sammons, Matthew; Reed, Benjamin B.

doi:10.2514/6.2015-4426

Cited by 19 publications

(5 citation statements)

References 0 publications

Supporting

Mentioning

Contrasting

Unclassified

Order By: Relevance

“…Thus, for either a debris grappling mission with multiple uncooperative targets or an inspection task on the surface of a large spacecraft, a gripper may become complex and bulky if one attempts to grasp by traditional means (13). Most of the current noncooperative satellite servicing and grappling missions are still in proposal stages (14)(15)(16).…”

Section: Introductionmentioning

confidence: 99%

A robotic device using gecko-inspired adhesives can grasp and manipulate large objects in microgravity

et al. 2017

View full text Add to dashboard Cite

Grasping and manipulating uncooperative objects in space is an emerging challenge for robotic systems. Many traditional robotic grasping techniques used on Earth are infeasible in space. Vacuum grippers require an atmosphere, sticky attachments fail in the harsh environment of space, and handlike opposed grippers are not suited for large, smooth space debris. We present a robotic gripper that can gently grasp, manipulate, and release both flat and curved uncooperative objects as large as a meter in diameter while in microgravity. This is enabled by (i) space-qualified gecko-inspired dry adhesives that are selectively turned on and off by the application of shear forces, (ii) a load-sharing system that scales small patches of these adhesives to large areas, and (iii) a nonlinear passive wrist that is stiff during manipulation yet compliant when overloaded. We also introduce and experimentally verify a model for determining the force and moment limits of such an adhesive system. Tests in microgravity show that robotic grippers based on dry adhesion are a viable option for eliminating space debris in low Earth orbit and for enhancing missions in space.

show abstract

Section: Introductionmentioning

confidence: 99%

A robotic device using gecko-inspired adhesives can grasp and manipulate large objects in microgravity

et al. 2017

View full text Add to dashboard Cite

show abstract

“…A wire cutter, safety cap, extravehicular robotic nozzle, and multifunction tools were utilized to complete the RRM. [ 137,138 ] Moreover, the multifunction tool provides a common interface with four adapters, namely, the tertiary cap, T‐valve, ambient cap, and plug manipulator adapters, which are used to accomplish four separate tasks, as shown in Figure 15b. [ 37 ] The EMM end‐effector is a three‐finger capture and locking mechanism evenly distributed on its circumference, with pose tolerance, preloading, grasping, and other fine functions, as presented in Figure 15c, [ 133,139,140 ] that can handle and maintain payloads.…”

Section: Key Technologies and Challengesmentioning

confidence: 99%

Advances in Space Robots for On‐Orbit Servicing: A Comprehensive Review

Jiang

Liu

et al. 2023

Advanced Intelligent Systems

View full text Add to dashboard Cite

Space robots play a significant role in on‐orbit servicing (OOS) missions, such as inspecting, capturing, refueling, and repairing satellites, assembling and maintaining large space infrastructure, and removing orbital debris. Over the past four decades, many space robot engineering applications and technology verifications for OOS have been accomplished. This article comprehensively reviews the advances by representative space robotic programs on space shuttles, outside/inside the International Space Station and the China Space Station, as well as on satellites, and the development trends of space robots are summarized. In addition, the primary key technologies and challenges are explored, including the following: 1) visual perception for noncooperative targets; 2) motion planning and control with a free‐floating base and flexibility; 3) multifunctional end‐effectors; 4) ground teleoperation with long time delays; and 5) high‐fidelity ground verification. Finally, the prospects for space robot future research are presented.

show abstract

“…NASA, with the support of CSA, has started a Robotic Refueling Mission (RRM) on ISS using CSA’s SPDM ( Gefke et al, 2017 ). RRM is a series of multi-phased ISS payload experiments designed to test and mature the tools and technologies associated with on-orbit robotic fueling services.…”

Section: Feedback Controlmentioning

confidence: 99%

Robotic Manipulation and Capture in Space: A Survey

Papadopoulos

Aghili

et al. 2021

Front. Robot. AI

View full text Add to dashboard Cite

Space exploration and exploitation depend on the development of on-orbit robotic capabilities for tasks such as servicing of satellites, removing of orbital debris, or construction and maintenance of orbital assets. Manipulation and capture of objects on-orbit are key enablers for these capabilities. This survey addresses fundamental aspects of manipulation and capture, such as the dynamics of space manipulator systems (SMS), i.e., satellites equipped with manipulators, the contact dynamics between manipulator grippers/payloads and targets, and the methods for identifying properties of SMSs and their targets. Also, it presents recent work of sensing pose and system states, of motion planning for capturing a target, and of feedback control methods for SMS during motion or interaction tasks. Finally, the paper reviews major ground testing testbeds for capture operations, and several notable missions and technologies developed for capture of targets on-orbit.

show abstract

Advances in Robotic Servicing Technology Development

Cited by 19 publications

References 0 publications

A robotic device using gecko-inspired adhesives can grasp and manipulate large objects in microgravity

A robotic device using gecko-inspired adhesives can grasp and manipulate large objects in microgravity

Advances in Space Robots for On‐Orbit Servicing: A Comprehensive Review

Robotic Manipulation and Capture in Space: A Survey

Contact Info

Product

Resources

About