Robotic assembly projects in JAXA Hiroki Kato Daichi Hirano - - PowerPoint PPT Presentation

Robotic assembly projects in JAXA

Robotic technology for in-space assembly ICRA2019 Workshop @ Montreal

1

Hiroki Kato Daichi Hirano Keisuke Watanabe Daisuke Joudoi

Japan Aerospace Exploration Agency (JAXA)

• 1. Assembly in manned space missions

(1.1. Monitoring – Int-Ball) 1.2. Manipulation/assembly robot

• 2. Assembly in large space structure

2.1. Geostationary Precipitation Radar (GPR) 2.2. Space Solar Power System (SSPS)

2

Robotic assembly projects in JAXA

• 1. Assembly in manned space missions

(1.1. Monitoring – Int-Ball) 1.2. Manipulation/assembly robot

• 2. Assembly in large space structure

2.1. Geostationary Precipitation Radar (GPR) 2.2. Space Solar Power System (SSPS)

3

Robotic assembly projects in JAXA

Manned space missions

Robotic technologies

• n ground

Lunar Orbital Platform - Gateway (2020s~) Development of space robotic technologies

Feedback to ground technologies

Lunar Exploration (2030s~) Technical demonstration

• n ISS

4

• 1. Assembly in manned space missions

◼ Chance to develop robotic tech. in ISS/Japanese Experiment Module (JEM) ◼ Astronauts’ task analysis in JEM conducted:

– Robotic tech. can helps are classified into 2 groups:

Monitoring Manipulation incl. automation with dedicated systems

• Setup cameras
• Take videos
• Pick and assembly
• Handle devices
• Routine tasks

Int-Ball – Free-flying camera robot Manipulation robot

5

1.1. Monitoring – Int-Ball

◼ Goal

– Reducing time for astronauts filming (estimated 10%

• f crew-time)

◼ Launched in June 2017 (ver. 1.0)

6

1.2. Manipulation/assembly robot

◼ Goal

– Develop a robot that performs manipulation and assembly tasks instead of astronauts.

◼ Technical issues

A) Time delay

✓Teleoperation is not eligible due to the time delay, which makes it difficult to response quickly to the contacts/frictions with manipulating objects. ✓Mission specific (On-orbit: 10- sec, Hayabusa: 20x2mins, Mars: 10-15x2mins)

B) Difference on environments.

– Pre-programmed control methods on ground cannot be used directly because of differences on dynamics under micro-gravity.

◼ Approach

7

• 1. Assembly in manned space missions

1.1. Monitoring – Int-Ball 1.2. Manipulation/assembly robot

• 2. Assembly in large space structure

2.1. Geostationary Precipitation Radar (GPR) 2.2. Space Solar Power System (SSPS)

8

Robotic assembly projects in JAXA

• 2. Assembly in large space structure

⇒2.1. GPR ⇐ 2.2. SSPS

9

2.1. Geostationary Precipitation Radar (GPR)/1

◼ (Goal) to identify

– the forming process of a typhoon – to improve the accuracy of weather and flood forecasts

◼ (Approach) observing precipitation continuously and flexibly from a geostationary orbit.

10

2.1. Geostationary Precipitation Radar (GPR) ◼ GPR antenna construction sequence

11

2.1. Geostationary Precipitation Radar (GPR) ◼ Proposing a pre-curser mission, using HTV-X

– to demonstrate deployment and connection mechanisms for a large planar antenna.

Lightweight Antenna Panel

Front Back 12

2.1. Geostationary Precipitation Radar (GPR) ◼ Proposing a pre-curser mission, using HTV-X

– Verifying the critical operation of the GPR antenna construction sequence

13

2.1. Geostationary Precipitation Radar (GPR) ◼ Latest Research Topic:

– Ground Experiment of Panel Deployment and Connection Mechanisms (Conducted in FY2017)

Before deployment of first row During deployment of first row Before deployment of second row After deployment of second row

14

2.2. Space Solar Power System (SSPS)

◼ Converts solar energy into microwave in space and transmits to Earth

Basic Model Advanced Model

Panel for generator and microwave transmitter

• Panel for power generator and

microwave transmitter: 2.5km x 2.4km x 2cm

• Total weight: 26,600ton
• Output power on ground: 1GW
• Primary mirror: 2.5km x 3.5km
• Solar panel: diameter 1.25km
• Microwave transmitter:

diameter 1.8km

• Total weight: 10,000ton
• Output power on ground: 1GW

15

• 1. Assembly in manned space missions

1.1. Monitoring – Int-Ball 1.2. Manipulation/assembly robot

• 2. Assembly in large space structure

2.1. Geostationary Precipitation Radar (GPR) 2.2. Space Solar Power System (SSPS)

16

Robotic assembly projects in JAXA

end of presentation Contact: Hiroki Kato

kato.hiroki@jaxa.jp

17