Applying Robotic Satellite Servicing Technologies to On-Orbit Servicing, Assembly, and Manufacturing (OSAM) Robotic Assembly for In-Space Assembly Workshop ICRA 2019 May 23, 2018
National Space Strategy 2018 Priorities • Transforming to more resilient space architectures • Improving foundational capabilities, structures, and processes • Fostering conducive domestic and international environments Opportunities • Explore new capabilities to service, manufacture, and assemble space systems • Develop and demonstrate on-orbit mission extension, servicing, assembly, and manufacturing to support industry and government • Define voluntary standards and operational practices for on-orbit servicing capabilities 2
OSAM Capabilities Enable Bold New Missions, Operations, and Infrastructure 3
NASA/GSFC’s Robotics Facilities Servicing Technology Center (Building 27N) Robotics Operations Center (Building 29) West Virginia Robotic Technology Center (Fairmont, WV) Over two dozen 6- and 7-degree-of-freedom industrial and flight-like robots across the country 4
Robotic Servicing Technologies Hexapod robotic EDU robot arm Air bearing platform floor 5 Passive inertia simulators Active inertia simulators
Manipulation of Large Structures • Capture and manipulate large payloads • Utilize passive inertia simulator to understand contact dynamics • Evaluate rendezvous and proximity operations 6
Complex Environment Interaction • Autonomously react to environment data • Stow and utilize task-based manipulators • Minimize imparted energy • Prove stable interaction with environment 7
Flexible Membrane Deployment/Attachment • Interact with fabric/flexible structures such as sunshades and inflatables • Investigate dexterous hands for manipulating thermal blankets • Evaluate flexible-body dynamic models 8
Multi-Arm Coordination • Evaluate multi-arm control methodology and loading conditions • Coordinate safe interaction between systems 9 (photo credit: RPI)
Restore-L • Inspect, rendezvous, relocate and refuel a satellite in low-Earth orbit • Dragonfly • Assemble a large Ka quality antenna from constituent segments • Planning to perform photogrammetric and/or RF metrology to verify proper assembly • Manufacture a 20 m long thermally stable antenna boom Servicing Payload • Optically measure boom accuracy and thermal stability • Team • SSL: Payload integrator Dragonfly Reflector • NASA/LaRC: Assembly joints • SSL Robotics: Ultralightweight robotics • MDA Inc.: Advanced robot control software • Tethers Unlimited: In-space truss manufacturing • Soliciting ideas for experiments/payloads for extended mission operations Dragonfly 5 m Robot Arm What would you do with this persistent platform, if it were available? 10
sspd.gsfc.nasa.gov @NASA_SatServ NASA.Satellite.Servicing 11
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