Applying Robotic Satellite Servicing Technologies to On-Orbit - - PowerPoint PPT Presentation

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

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OSAM Capabilities Enable Bold New Missions, Operations, and Infrastructure

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NASA/GSFC’s Robotics Facilities

Robotics Operations Center (Building 29) Servicing Technology Center (Building 27N) West Virginia Robotic Technology Center (Fairmont, WV)

Over two dozen 6- and 7-degree-of-freedom industrial and flight-like robots across the country

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Robotic Servicing Technologies

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Hexapod robotic platform EDU robot arm Air bearing floor Passive inertia simulators Active inertia simulators

• Capture and manipulate large payloads
• Utilize passive inertia simulator to understand contact dynamics
• Evaluate rendezvous and proximity operations

Manipulation of Large Structures

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• Autonomously react to environment data
• Stow and utilize task-based manipulators
• Minimize imparted energy
• Prove stable interaction with environment

Complex Environment Interaction

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• Interact with fabric/flexible structures such as sunshades and

inflatables

• Investigate dexterous hands for manipulating thermal blankets
• Evaluate flexible-body dynamic models

Flexible Membrane Deployment/Attachment

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• Evaluate multi-arm control methodology and loading conditions
• Coordinate safe interaction between systems

Multi-Arm Coordination

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Restore-L

Dragonfly Reflector Dragonfly 5 m Robot Arm Servicing Payload

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• 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
• Optically measure boom accuracy and thermal stability
• Team
• SSL: Payload integrator
• 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

What would you do with this persistent platform, if it were available?

sspd.gsfc.nasa.gov @NASA_SatServ NASA.Satellite.Servicing

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