Simulation of the on-orbit construction of structural variable modular spacecraft by robots

Abstract

This paper gives an overview on the simulation of the on-orbit construction of structural variable modular spacecraft by robots using Modelica. For this purpose, a new concept using so-called tensor bodies was developed which enables the fast and continuous simulation of complex scenarios even during structural changes. This research was part of two ESA and EU projects. An overview of the modeling and simulation approach will be given. The scenarios include the on-orbit re-configuration of a modular satellite with a walking robot manipulator and the construction of a modular space antenna array platform with a walking robot with two arms and a torso.

Modeling and simulation of dynamically constrained objects for limited structurally variable systems in Modelica

“…The aim is to constrain two bodies by applying joint forces to each body. (Acquatella and Reiner 2014) used this method for the modeling and simulation of stage separation dynamics in Modelica and (Reiner 2022) for robot based in orbit construction of orbital platforms. Their solution is however limited because the contact pairs are predefined or use special cases and cannot be changed during runtime.…”

“…For other scenarios, it is necessary to constrain one object to another at the contact point. An example is the robot based in orbit construction of orbital platforms (see (Reiner 2022)). For such applications, the position and orientation of the Con-strainedObject should be kept and reaction forces computed accordingly.…”

“…There are also examples in the field of aeronautics, such as the structural changes during runtime in the area of stage separation (Acquatella and Reiner 2014) or for in orbit construction of orbital platforms (Reiner 2022).…”

“…This work builds on the previous work of (Acquatella and Reiner 2014) and (Reiner 2022) to make it usable in a wider range of applications, and shows how robot tool changers can be modeled using the proposed technique. We present a new solution for the modeling and simulation of structurally variable systems in Modelica.…”