Proximity Operations for the Robotic Boulder Capture Option for the Asteroid Redirect Mission

Reeves, David M.; Naasz, Bo J.; Wright, C. Wayne; Pini, Alex J.

doi:10.2514/6.2014-4433

Cited by 6 publications

(3 citation statements)

References 9 publications

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“…As a result, given the total mass of the ARV and boulder (79,000 Kg), the escape velocity on EV5 (0.26 m/s), and the 1-m stroke distance, the inertial load on each landing leg at launch is calculated to be 921 N (207 lbf). The peak load for the grapple arms occurs after the ARV has returned to cis-lunar space 12 during the final docking maneuver, thus only the fully retracted pose is structurally sized for each of the three critical boulder cases mentioned previously. The docking load on each arm is 885 N (199 lbf).…”

Section: A Talisman Geometry and Configurationmentioning

confidence: 99%

Structural Sizing Methodology for the Tendon-Actuated Lightweight In-Space Manipulator (TALISMAN) System

Jones

Dorsey

Doggett

2015

AIAA SPACE 2015 Conference and Exposition

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The Tendon-Actuated Lightweight In-Space MANipulator (TALISMAN) is a versatile long-reach robotic manipulator that is currently being tested at NASA Langley Research Center. TALISMAN is designed to be highly mass-efficient and multi-mission capable, with applications including asteroid retrieval and manipulation, in-space servicing, and astronaut and payload positioning. The manipulator uses a modular, periodic, tension-compression design that lends itself well to analytical modeling. Given the versatility of application for TALISMAN, a structural sizing methodology was developed that could rapidly assess mass and configuration sensitivities for any specified operating work space, applied loads and mission requirements. This methodology allows the systematic sizing of the key structural members of TALISMAN, which include the truss arm links, the spreaders and the tension elements. This paper summarizes the detailed analytical derivations and methodology that support the structural sizing approach and provides results from some recent TALISMAN designs developed for current and proposed mission architectures.

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Section: A Talisman Geometry and Configurationmentioning

confidence: 99%

Structural Sizing Methodology for the Tendon-Actuated Lightweight In-Space Manipulator (TALISMAN) System

Jones

Dorsey

Doggett

2015

AIAA SPACE 2015 Conference and Exposition

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“…These operations are summarized here and are discussed in further detail in Ref. 18. For the Itokawa case study these operations require 400 days that include 50 days of asteroid and boulder characterization, 20 days of operations for the initial boulder collection attempt, 50 days of contingency operations in the event the initial boulder collection attempt is not successful, 260 days for demonstration and verification of EGT technique, and 20 days of margin.…”

Section: Proximity Operationsmentioning

confidence: 99%

Asteroid Redirect Robotic Mission: Robotic Boulder Capture Option Overview

Mazanek

Merrill

Belbin

et al. 2014

AIAA SPACE 2014 Conference and Exposition

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The National Aeronautics and Space Administration (NASA) is currently studying an option for the Asteroid Redirect Robotic Mission (ARRM) that would capture a multi-ton boulder (typically 2-4 meters in size) from the surface of a large (~100+ meter) Near-Earth Asteroid (NEA) and return it to cislunar space for subsequent human and robotic exploration. This alternative mission approach, designated the Robotic Boulder Capture Option (Option B), has been investigated to determine the mission feasibility and identify potential differences from the initial ARRM concept of capturing an entire small NEA (4-10 meters in size), which has been designated the Small Asteroid Capture Option (Option A). Compared to the initial ARRM concept, Option B allows for centimeter-level characterization over an entire large NEA, the certainty of target NEA composition type, the ability to select the boulder that is captured, numerous opportunities for mission enhancements to support science objectives, additional experience operating at a low-gravity planetary body including extended surface contact, and the ability to demonstrate future planetary defense strategies on a hazardous-size NEA. Option B can leverage precursor missions and existing Agency capabilities to help ensure mission success by targeting wellcharacterized asteroids and can accommodate uncertain programmatic schedules by tailoring the return mass.

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“…Inspired by the success of recent asteroid flyby and sample return missions, the concept of retrieving an asteroid and further redirecting it to a stable and easily accessible orbit is proposed by some space agencies. Aster-oid redirect mission (ARM) [17] is such a mission concept that aims at capturing a full or part of NEA to a cis-lunar orbit to examine the capability of manned asteroid landing and test the performance of planetary defense techniques.…”

Section: Introductionmentioning

confidence: 99%

Orbit–attitude dynamics and control of spacecraft hovering over a captured asteroid in the earth–moon system

Chen²,

Zhang

et al. 2022

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This paper presents a robust orbit-attitude control method for spacecraft body-fixed hovering over a captured asteroid in the earth-moon system. First, relative orbit-attitude motion dynamics model of spacecraft with respect to an asteroid is derived in the context of circular restricted three-body problem. As opposed to previous works focusing on point-mass translational models, this paper proposes a new feature point-based model which is established in a local frame originated in a selected spot attached to the asteroid surface. In such a case, the kinematic coupling effect is explicitly included, and the desired relative motion trajectories are thus to be time-invariant. Next, an adaptive sliding mode controller is devised for spacecraft robust hovering as well as sensor pointing in the presence of external disturbances and parameter uncertainties. Finally, a simulation scenario of spacecraft hovering over an asteroid which is assumed to be captured in a stable lunar distant retrograde orbit is illustrated. Results demonstrate that both orbital and attitude relative motion track the reference trajectories well under the proposed control law. KeywordsOrbit-attitude dynamics • Adaptive sliding mode control • Asteroid • Body-fixed hovering • Circular restricted three-body problem B Xiaowei Shao

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Proximity Operations for the Robotic Boulder Capture Option for the Asteroid Redirect Mission

Cited by 6 publications

References 9 publications

Structural Sizing Methodology for the Tendon-Actuated Lightweight In-Space Manipulator (TALISMAN) System

Structural Sizing Methodology for the Tendon-Actuated Lightweight In-Space Manipulator (TALISMAN) System

Asteroid Redirect Robotic Mission: Robotic Boulder Capture Option Overview

Orbit–attitude dynamics and control of spacecraft hovering over a captured asteroid in the earth–moon system

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