1 / 36

Space Robotics

Space Robotics. Presented by Mahesh Babu.S IV- Btech Electronics and Communication Engineering,SVIST. Introduction:-. Robot Mechanical body , computer has its brain Space Robotics substitute or subsidised for the man activities in space. Areas of Application:-.

bruno-lott
Download Presentation

Space Robotics

An Image/Link below is provided (as is) to download presentation Download Policy: Content on the Website is provided to you AS IS for your information and personal use and may not be sold / licensed / shared on other websites without getting consent from its author. Content is provided to you AS IS for your information and personal use only. Download presentation by click this link. While downloading, if for some reason you are not able to download a presentation, the publisher may have deleted the file from their server. During download, if you can't get a presentation, the file might be deleted by the publisher.

E N D

Presentation Transcript

  1. Space Robotics Presented by Mahesh Babu.S IV-Btech Electronics and Communication Engineering,SVIST 123seminarsonly.com

  2. Introduction:- • Robot Mechanical body , computer has its brain • Space Robotics substitute or subsidised for the man activities in space 123seminarsonly.com

  3. Areas of Application:- • In orbit positioning and assembly • Operation • Maintenance • Resupply 123seminarsonly.com

  4. Scientific Appications under the above categories are • Scientific Experimentation • Assist crew in space station assembly • Space servicing function • Space craft enhancements • Space Tug 123seminarsonly.com

  5. Space Shuttle Tile Rewaterproofing robot Tessellator-Mobile Manipulator System 123seminarsonly.com

  6. Rewaterproofing-Injecting hazardous dimethyloxysilane(DMES) • Travelling workstation problem(TWP)-serves a certain area 123seminarsonly.com

  7. Objectiveof the TWP is • To determine the minimum number of workspaces and their layout • To determine the optimal route of the workstation movement 123seminarsonly.com

  8. The constraints of the problem are • The workstation should serve or cover all workareas. • The patterns or dimensions of each workspace are the same and • There some geographical obstacles or restricted areas. 123seminarsonly.com

  9. Path of the Tesselator 123seminarsonly.com

  10. ROBOTS TO REFUEL SATELLITES • The US department of defense- Autonomous Space Transporter and Robotic Orbiter (ASTRO) • Expands lifespan of satellites • carry out repair works on faulty satellites 123seminarsonly.com

  11. CHALLENGES IN DESIGN AND TESTING • zero gravity -physical action and mechanism performance • The vacuum and thermal conditions of space -material and sensor performance 123seminarsonly.com

  12. ZERO ‘g’ EFFECT ON DESIGN • Arm will be light in mass • Manipulator arm -stiffness based • Joint actuators -selected based on dynamic torque (i.e.; based on the acceleration of the arm). • Lack of inertial frame 123seminarsonly.com

  13. VACUUM EFFECT AND THERMAL EFFECT • Total mass loss (TML) <1% • Collected volatile condensable matter (CVCM) <0.1%. • Low temperature -embrittlementof the material, weaken adhesive bonding and increase friction in bearings. • Large thermal gradients -distortion in structural elements and jamming of the mechanism 123seminarsonly.com

  14. OTHER FACTORS • Prime requirements of space systems is lightweight and compactness. • Dynamic loads during launch-sinusoidal vibrations, random vibrations, acoustic noise and separation shock spectra. 123seminarsonly.com

  15. (FMECA) is to be carried out • Choosing proven/reliable designs. • Having good design margins. • Have design with redundancy 123seminarsonly.com

  16. SPACE MODULAR MANIPULATORS • The unique thermal, vacuum and gravitational conditions of space drive different from the typical laboratory robot • Four main design drivers were • Extreme Thermal Conditions; • High Reliability Requirements; • Dynamic Performance; and • Modular Design. 123seminarsonly.com

  17. Manufacturing robots operate in climate controlled, \|O(+,-)2K factory environments • Space manipulators must be designed for \|O(+,) 75K temperature variations with 1500 W/m2 of solar flux. 123seminarsonly.com

  18. SYSTEM VERIFICATION AND TESTING • The commonly used simulations for zero ‘g’ are • Flat floor test facility • Water immersion • Compensation system 123seminarsonly.com

  19. ROBOT PERFORMANCE ASSESSMENT • To identify the main source of error which perturb the accuracy of the arm. • To decide if the arm or the work cell must be calibrated. • To compare the expected improvement in accuracy in calibration. 123seminarsonly.com

  20. Error sources are identified by a bottom up analysis Error sources are identified and are sorted into three categories • Systematic error • Pseudo systematic error • Random errors 123seminarsonly.com

  21. ROBOT CALIBRATION • Calibration must be done on ground Calibration is performed in five steps: • Modeling • Measurement, • Identification • Model implementation • Verification • Performance Evaluation 123seminarsonly.com

  22. STRUCTURE OF SPACE ROBOTS • 6 degrees of freedom (DOF). • The main subsystems in the development of the manipulator arm are • Joints • Arm • Wrist • Gripper 123seminarsonly.com

  23. JOINTS Two types of joints are • Roll joint • Pitch joint Each joint consists of • Electro optical angular encoders • Pancake type DC torque motors • Harmonic gear • Electromagnetically actuated friction brakes 123seminarsonly.com

  24. OPERATION • SPACE SHUTTLE ROBOT ARM Use • Survey the outside of the Space Shuttle • Transport an EVA crew member at the end of the arm • Satellite deployment and retrieval • Construction of International Space Station 123seminarsonly.com

  25. Shuttle robot arm observed from the deck 123seminarsonly.com

  26. ROBOT ARM OPERATION MODE THC RHC 123seminarsonly.com

  27. HOW SPACE SHUTTLE ROBOT ARM GRASPS OBJECT? End effector and grapple fixture 123seminarsonly.com

  28. Robot arm’s payload acquiring sequence 123seminarsonly.com

  29. FREE FLYING SPACE ROBOTS • In a free flying space robot a robot arm is attached to the satellite base • The satellite may start rotating in an uncontrollable way. • The antenna communication link may be interrupted 123seminarsonly.com

  30. Free flying space robots 123seminarsonly.com

  31. SPACE STATION MOUNTED ROBOTS JEMRMS SPDM 123seminarsonly.com

  32. SPACE ROBOT TELEOPERATION • Develop a completely autonomous robot • Teleoperation technologies for the robots with high levels of autonomy become very important • Teleoperation of space robots from the ground in the future space missions. 123seminarsonly.com

  33. CONCLUSION • In the future, robotics will makes it possible for billions of people to have lives of leisure instead of the current preoccupation with material needs. • There are hundreds of millions who are now fascinated by space but do not have the means to explore it. • For them space robotics will throw open the door to explore and experience the universe. 123seminarsonly.com

  34. REFERENCES • www.andrew.cmu.edu/~ycia/robot.html • www.space.mech.tohoku.ac.jp/research/overview/overview.html • www.nanier.hq.nasa.gov/telerobotics-page/technologies/0524.html • www.jem.tksc.nasda.go.jp/iss/3a/orb_rms_e.html • production technology by R. K. Jain • introduction to space robotics by Alex Ellery 123seminarsonly.com

  35. QUERIES 123seminarsonly.com

  36. 123seminarsonly.com

More Related