Space Robotics. Lecture #23 November 15, 2016 Robotic systems Docking and berthing interfaces Attachment mechanisms MARYLAND U N I V E R S I T Y O F

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Lawrence Rodger Blankenship
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2 Shuttle Remote Manipulator System 2

3 RMS Wrist Mechanisms 3

4 RMS Grapple Fixture and Target 4

5 RMS Grapple Fixture (corroded!) 5

6 Shuttle RMS Grapple Tolerances 6

7 Capture Before Contact Need to control position and attitude of servicing/assembly targets Generally in free drift mode prior to grapple Small impacts produce substantial counterreactions (e.g., Solar Max) Goal for grapple devices: capture before contact Envelope some aspect of target to prevent escape before any contact is made Rigidize grapple after capture 7

8 Shuttle RMS Grapple Procedure (1) 8

9 Shuttle RMS Grapple Procedure (2) 9

10 Shuttle RMS Grapple Procedure (3) 10

11 Space Station Remote Manipulator System 11

12 Space Station Remote Manipulator System 12

13 SSRMS Latching End Effector 13

14 Space Station RMS - Canadarm II 14

15 ISS Power Data Grapple Fixture 15

16 Special Purpose Dexterous Manipulator 16

17 Special Purpose Dexterous Manipulator 17

18 SPDM - Dextre 18

19 SPDM - Dextre 19

20 SPDM Orbital Tool Changeout Mechanism 20

21 European Robotic Arm 21

22 Japanese Exposed Facility Robotics 22

23 JEM Remote Manipulator System 23

24 JEM Small Fine Arm 24

25 DARPA Orbital Express 25

26 Orbital Express Demo Manipulator System 26

27 OE Docking System Design Requirements 27

28 OE Docking System Christiansen and Nilson, Docking Systems Mechanism Utilized on Orbital Express Program 39th Aerospace Mechanisms Symposium, May

29 OE Docking Sequence Christiansen and Nilson, Docking Systems Mechanism Utilized on Orbital Express Program 39th Aerospace Mechanisms Symposium, May

Orbital Express Demonstration Manipulator System MDA developed the Orbital Express Autonomous Robotic Manipulator System comprising the following space and ground elements: Small next generation

30 Orbital Express Demonstration Manipulator System MDA developed the Orbital Express Autonomous Robotic Manipulator System comprising the following space and ground elements: Small next generation Robotic arm on ASTRO with avionics and autonomous vision system Grapple fixtures and vision target for Free-Flyer Capture and ORU transfer Mating interface camera and lighting system Standard, non-proprietary ORU containers and mating interfaces Proximity-Ops lighting system Autonomous Software Robotic Ground Segment Length 3m Manipulator Arm Specifics Mass Volume Power 71kg 65cm x 49cm x 186cm 131 watts DOF 6

Free-Flyer Capture Robotic Arm on ASTRO will drive autonomously using highly-reliable vision feedback from a camera at its tip to capture NEXTSat Berthing requires the advanced robotic arm to grapple

31 Free-Flyer Capture Robotic Arm on ASTRO will drive autonomously using highly-reliable vision feedback from a camera at its tip to capture NEXTSat Berthing requires the advanced robotic arm to grapple NEXTSat from a distance of 1.5 m and position it within the capture envelope

32 Robonaut 32

33 Robonaut Using Human Interfaces 33

34 RESTORE Dexterous Manipulator 34

35 RESTORE End Effector Interchange 35

36 RESTORE End Effector Interchange 36

The Tendon-Actuated Lightweight In-Space MANipulator (TALISMAN): An Enabling Capability for In-Space Servicing Presented To: ATLAST Seminar Series

37 The Tendon-Actuated Lightweight In-Space MANipulator (TALISMAN): An Enabling Capability for In-Space Servicing Presented To: ATLAST Seminar Series John T. Dorsey NASA Langley Research Center November 18, 2015 John T. Dorsey, NASA Langley Research Center, (757) , 37

38 New Approach: Tendon Actuated Lightweight In-Space MANipulator (TALISMAN) Truss Link Hinge Joint Spreader Actuation Cables Motor/Gearbox What Is New In This Approach? Tendon and spreader architecture: high gear ratio and mechanical advantage, lightweight motor/gearboxes Tendon architecture: low joint compliance and mass Tension/compression structural elements: minimize structural mass Actuation tendons: also provide stiffening for the structure Lightweight joints: number can be optimized to increase dexterity and/or packaging efficiency Tendon actuation: full or semi antagonistic control options possible Design: modular and scalable making it versatile to many applications John T. Dorsey, NASA Langley Research Center, (757) , 38

39 TALISMAN vs. Shuttle Remote Manipulator System Shuttle Remote Manipulator Envelope Shuttle Remote Manipulator Composite Tube Diameter Design Parameter SRMS TALISMAN Total manipulator length 15.3 m (50 ft) 15.3 m (50 ft) Number of joints in manipulator 6 (2 shoulder, 1 elbow, 3 wrist) 5 (2 base, 3 joints) Number of links in manipulator 2 4 Tube/Link System Mass [kg] 46 kg (101.4 lbf) 7.03 kg (15.5 lbf) Manipulator Mass 410 kg (904 lbf) 36.1 kg (79.6 lbf) Packaged Volume 1.74 m 3 (61.4 ft 3 ) 0.23 m 3 (8 ft 3 ) Talisman compared to SRMS: < 1/10 th mass and < 1/7 th the volume (Talisman does not include an end-effector) John T. Dorsey, NASA Langley Research Center, (757) , john.t.dorsey@nasa.gov 39

40 Ranger Telerobotic Flight Experiment 40

41 Ranger Telerobotic Shuttle Experiment 41

42 Ranger Flight Dexterous Arms 42

43 Dexterous Arm Parameters Modular arm with co-located electronics Embedded 386EX rad-tolerant processors Only power and 1553 data passed along arm 53 inch reach mounting plate-tool interface plate 8 DOF with two additional tool drives (10 actuators) Interchangeable end effector with secure tool exchange 30 pounds tip force, full extension 150 pounds (could be significantly reduced) 250 W (average 1G ops) 43

44 Ranger-SMEX-Lite Concept 44

45 Ranger on SMV 45

46 SM4R(obotic) Concept Overview Ranger Telerobotic Servicing System University of Maryland Interim Control Module Naval Research Laboratory HST SM4 Servicing Hardware NASA Goddard 46

47 Hubble Space Telescope Servicing 47

48 Results of Ranger Hubble Servicing Over four months of active project, Ranger performed all major servicing operations planned for SM-4 Significant performance impacts found in selected architecture MDA OTCM size makes operations in confined volumes difficult Manipulator and robot body sized preclude close access to most ORUs other than reaching in Insufficient time to fully implement compliant control in this configuration Most of the issues were mitigated in original Ranger servicing proposal 48

49 Ranger Spacecraft Servicing System 49

50 MODSS Concept 50 Miniature On-orbit Dexterous Servicing System Maintain essential capabilities of Ranger for dexterous servicing Human-compatible servicing tasks Interchangeable end effectors Free-flying spacecraft bus Shrink system to technological minimums (target: 100 kg total)

51 MODSS Dexterous Manipulator Concepts Modular Roll/Pitch/Arm Link with Embedded Controller Modular Actuator Design 51

52 Completed Pitch-Roll Module Prototype 52

actuator torque 2.1 kg (4.6 lbm) module mass 10-DOF dexterous arm 77 kg (170 lbm) arm mass 135 mm (5.

53 Comparison to Ranger Technology 6-DOF dexterous arm 10 kg (22 lbm) arm mass 84 mm (3.3 in) diameter 75 cm (30 in) length 53 N (12 lbf) tip force Modular actuator data 67 N-m (40 ft-lbf) actuator torque 2.1 kg (4.6 lbm) module mass 10-DOF dexterous arm 77 kg (170 lbm) arm mass 135 mm (5.375 in) diameter 135 cm (53 in) length 133 N (30 lbf) force Elbow actuator data 81 N-m (60 ft-lbf) actuator torque 19.7 kg (43.3 lb) module mass 53

54 MODSS System Mass Estimates Component Mass (kg) Dexterous Manipulators 2x7 Grappling Arm 15 End Effectors 4x2 Pan/Tilt Unit 2 Power Systems 24 Avionics 6 Spacecraft Bus Structures 10 Propulsion System 5 Propellants 7 Margin 9 54

55 MODSS Servicing Milstar Spacecraft 55

56 Hubble Servicing Mission 5?? 56

57 Proteus Modular Interconnects Intermodule connections will be via androgynous interface mechanism (AIM) AIM allows removal, reversal, reinsertion of components via a second local manipulator AIM utility connections are main power & ground, control power & ground, IEEE 1394 command and data bus Specialized interchangeable end effector mechanism attached via AIM to allow arm to perform unaided tool changeouts 57

58 Self-reconfiguring Autonomous Software Dynamically deals with changes in number of degrees-of-freedom and/or configuration Dynamically deals with changes in end effector Capable of self-diagnosing faults Prevents acting upon erroneous or illegal command from within or outside (either teleoperator or another vehicle) the vehicle 58

59 A Sample Proteus Toolbox Modules End Effectors Nodes Roll Actuator Force-Torque Sensor Stereo Pan-Tilt Mini-Node Pitch Actuator Pitch-Yaw Actuator Pitch-Roll Actuator Long Link Medium Link Short Link 59

60 Docking and Berthing Docking: free-flight into a rigidizable connection Higher energy and misalignment Greater autonomy for visiting vehicle Always used for human vehicles Berthing: Grapple by a manipulator Moved into position for a rigid connection Higher operational overhead Greater precision and lower energy Generally used for system assembly 60

61 Apollo-Soyuz Docking Interface 61

62 Androgynous Peripheral Attach System 62

63 APAS Test Hardware (JSC) 63

64 Russian Probe-Drogue Docking System 64

65 International Docking System Face 65

66 IDS Side View 66

67 IDS Soft Capture Features 67

68 IDS Maximum Loads 68

69 Common Berthing Mechanism 69

70 Common Berthing Mechanism 70

71 Shuttle Mounting Systems 71

72 Shuttle Passive and Active Latches 72

73 Shuttle Trunnion Design 73

74 ISS Segment-Segment Attach System 74

75 Segment-Segment Capture Latches 75

76 Multiple Cooperative Telerobots 76

Development of Formation Flight and Docking Algorithms Using the SPHERES Testbed

Development of Formation Flight and Docking Algorithms Using the Testbed Prof. David W. Miller MIT Allen Chen, Alvar Saenz-Otero, Mark Hilstad, David W. Miller Introduction : Synchronized Position Hold