Optimization of On-Orbit Robotic Assembly of Small Satellites

Abstract

On-orbit assembly missions typically involve humans-in-the-loop and use large custom-built robotic arms designed to service existing modules. A proposed concept of on-orbit robotic assembly of modularized CubeSat components within a spacecraft locker eliminates the need for humans-in-the loop. The spacecraft locker supports use cases such as rapidly placing failed nodes within a constellation of satellites and providing sensing and propulsion capabilities in Low Earth Orbit. Despite the recent proliferation of small satellites, there are few planned demonstrations of on-orbit assembly and few demonstrations of on-orbit servicing. Key gaps challenges of in-space assembly of small satellites are (1) the lack of standardization of electromechanical CubeSat components for compatibility with commercial robotic assembly hardware, and (2) testing and modifying commercial robotic assembly hardware. In this work, we focus on testing and modifying: we develop an optimization process for a robotic assembly model to integrate small satellites in space. Our process focus is on the optimization of the on-orbit assembly time of small satellites. We use Commercial-Off-The-Shelf (COTS) robot arms to snap together components in a spacecraft, while minimizing humans-in-the-loop. Assembly time is the selected performance metric as it is critical to the assertion that building small satellites on-orbit results in reduced budget and satellite development time on Earth. We minimize on-orbit small satellite assembly time by optimizing assembly time with the Genetic Algorithm, which use dexterous robotic arms to assemble components, without any negative effects on the attitude and control system.

Integrated Dynamics of Space Rigid-Flex Combination System with Time-Varying Configuration

“…FFSRs present great potential for on-orbit assembly missions [1][2][3][4][5][6]. The implementation of in-space assembly using FFSR can be divided into three stages.…”

Design and Dynamic Control: A Free-Flying Space Robot Inspired by Water Striders

“…For instance, the Surrey Space Center has proposed the concept of autonomously assembling a reconfigurable space telescope through the utilization of microsatellite and docking technology in orbit [11]. Additionally, the MIT Space Systems Laboratory put forth the idea of assembling space telescopes by employing multiple satellites in orbit [12]. The China Academy of Space Technology presented an integrated assembly scheme that utilizes space robots to actualize the concept of a Space Solar Power Station [13].…”

Planning Allocation for GTO-GEO Transfer Spacecraft with Triple Orthogonal Gimbaled Thruster Boom

“…And with the increasing complexity of space science missions and the development of related technologies to promote the configuration of space robotic arms from a single arm to multi-arm development [13]. For instance, Space Shuttle Columbia was equipped with a six-degree-of-freedom single-arm configuration [14], while the ISS used a seven-degree-offreedom redundant single-arm configuration [15,16]. ISS and robotic astronaut in a doublearm configuration, ISS Japanese arm in a tandem configuration with macro and microrobotic arms [17].…”