Space Robotics

Chapter -I
INTRODUCTION
Robot is a system with a mechanical body, using computer as its
brain. Integrating the sensors and actuators built into the mechanical body,
the motions are realised with the computer software to execute the desired
task. Robots are more flexible in terms of ability to perform new tasks or to
carry out complex sequence of motion than other categories of automated
manufacturing equipment. Today there is lot of interest in this field and a
separate branch of technology robotics has emerged. It is concerned with
all problems of robot design, deelopment and applications. The technology
to substitute or subsidise the manned actiities in space is called space
robotics. !arious applications of space robots are the inspection of a
defectie satellite, its repair, or the construction of a space station and
supply goods to this station and its retrieal etc. "ith the oer lap of
knowledge of kinematics, dynamics and control and progress in
fundamental technologies it is about to become possible to design and
deelop the adanced robotics systems. #nd this will throw open the doors
to explore and experience the unierse and bring countless changes for the
better in the ways we lie.
1.1 AREAS OF APPLICATION
The space robot applications can be classified into the following
four categories
$ In%orbit positioning and assembly& 'or deployment of satellite and for
assembly of modules to satellite(space station.
) *peration& 'or conducting experiments in space lab.
+ ,aintenance& 'or remoal and replacement of faulty modules(packages.
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Space Robotics
- Resupply& 'or supply of equipment, materials for experimentation in
space lab and for the resupply of fuel.
The following examples gie specific applications under the aboe
categories
Scientific experimentation
.onduct experimentation in space labs that may include
,etallurgical experiments which may be ha/ardous.
#stronomical obserations.
0iological experiments.
A!!i!t cre" in !pace !tation a!!em#$%
#ssist in deployment and assembly out side the station.
#ssist crew inside the space station& Routine crew functions inside
the space station and maintaining life support system.
Space !er&icin' f(nction!
Refueling.
Replacement of faulty modules.
#ssist 1ammed mechanism say a solar panel, antenna etc.
Space craft enhancement!
Replace payloads by an upgraded module.
#ttach extra modules in space.
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Space Robotics
Space t('
2rab a satellite and effect orbital transfer.
3fficient transfer of satellites from low earth orbit to geostationary
orbit.
1.) SPACE S*UTTLE TILE RE+ATERPROOFIN, RO-OT
TESSELLATOR
Tessellator
Tessellator is a mobile manipulator system to serice the space
shuttle.The method of rewaterproofing for space shuttle orbiters inoles
repetitiely in1ecting the extremely ha/ardous dimethyloxysilane 45,367
into approximately $8999 bottom tile after each space flight. The field
robotic center at .arneige ,ellon :niersity has deeloped a mobile
manipulating robot, Tessellator for autonomous tile rewaterproofing. Its
automatic process yields tremendous benefit through increased productiity
and safety.
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Space Robotics
In this pro1ect, a )5%ehicle workspace coering and ehicle
routing problem has been formulated as the Traelling "orkstation ;roblem
4T";7. In the T";, a workstation is defined as a ehicle which occupies or
seres a certain area and it can trael< a workspace is referred to as a )5
actuation enelop of manipulator systems or sensory systems which are
carried on the workstation< a work area refers to a whole )5 working /one
for a workstation.
The ob1ectie of the T"; is
$ To determine the minimum number of workspaces and their layout, in
which, we should minimi/e the oerlapping among the workspaces and
aoid conflict with obstacles.
) To determine the optimal route of the workstation moement, in which the
workstation traels oer all workspaces within a lowest cost 4i.e. routing
time7.
The constraints of the problem are
$7 The workstation should sere or coer all workareas.
)7 The patterns or dimensions of each workspace are the same and
+7 There some geographical obstacles or restricted areas.
In the study, heuristic solutions for the T";, and a case study of
Tessellator has been conducted. It is concluded that the coering strategies,
e.g. decomposition and other layout strategies yield satisfactory solution for
workspace coering, and the cost%saing heuristics can near%optimally sole
the routing problem. The following figure shows a sample solution of T";
for Tessellator.
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Space Robotics
;ath of tessellator on )5 workspace of space shuttle
1.. RO-OTS TO REFUEL SATELLITES
The :6 department of defense is deeloping an orbital%refueling
robot that could expand the life span of #merican spy satellites many times
oer, new scientists reported. The robotic refueler called an #utonomous
6pace Transporter and Robotic *rbiter 4#6TR*7 could shuttle between
orbiting fuel dumps and satellites according to the 5efense #dance
Research ;ro1ects #gency. Therefore, life of a satellite would no longer be
limited to the amount of fuel with which it is launched. 6py satellites carry a
small amount of fuel, called hydra/ine, which enable them to change
position to scan different parts of the globe or to go into a higher orbit. 6uch
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Space Robotics
maneuering makes a satellites position difficult for an enemy to predict.
0ut, under the current system, when the fuel runs out, the satellite gradually
falls out of orbit and goes crashing to the earth. In the future the refueler
could also carry out repair works on faulty satellites, proided the hae
modular electronic systems that can be fixed by slot in replacements.
Chapter II
SPACE RO-OT/C*ALLEN,ES IN DESI,N AND
TESTIN,
Robots deeloped for space applications will be significantly
different from their counter part in ground. 6pace robots hae to satisfy
unique requirements to operate in /ero g conditions 4lack of graity7, in
acuum and in high thermal gradients, and far away from earth. The
phenomenon of /ero graity effects physical action and mechanism
performance. The acuum and thermal conditions of space influence
material and sensor performance. The degree of remoteness of the operator
may ary from a few meters to millions of kilometers. The principle effect
of distance is the time delay in command communication and its
repercussions on the action of the arms. The details are discussed below
).1 0ERO 1'2 EFFECT ON DESI,N
The graity free enironment in which the space robot operates
possesses both adantages and disadantages. The mass to be handled by
the manipulator arm is not a constraint in the /ero g enironment. =ence,
the arm and the 1oints of the space robot need not withstand the forces and
the moment loads due to graity. This will result in an arm which will be
light in mass. The design of the manipulator arm will be stiffness based and
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Space Robotics
the 1oint actuators will be selected based on dynamic torque 4i.e.< based on
the acceleration of the arm7. The main disadantage of this type of
enironment is the lack of inertial frame. #ny motion of the manipulator
arm will induce reaction forces and moment at the base which inturn will
disturb the position and the altitude. The problem of dynamics, control and
motion planning for the space robot is considering the dynamic interactions
between the robot and the base 4space shuttle, space station and satellite7.
5ue to the dynamic interaction, the motion of the space robot can alter the
base tra1ectory and the robot end effector can miss the desired target due to
the motion of the base. The mutual dependence seerely affects the
performance of both the robot and the base, especially, when the mass and
moment of inertia of the robot and the payload are not negligible in
comparison to the base. ,oreoer, inefficiency in planning and control can
considerably risk the success of space missions. The components in space
do not stay in position. They freely float and are a problem to be picked up.
=ence, the components will hae to be properly secured. #lso the 1oints in
space do not sag as on earth. :nlike on earth the position of the arm can be
within the band of the backlash at each 1oint.

).) 3ACUU4 EFFECT AND T*ER4AL EFFECT
The acuum in space can create heat transfer problems and mass
loss of the material through eaporation or sublimation. This is to be taken
care by proper selection of materials, lubricants etc., so as to meet the total
mass loss 4T,?7 of @$A and collected olatile condensable matter
4.!.,7 of @9.$A. The use of conentional lubricants in bearings is not
possible in this enironment. The preferred lubricants are dry lubricants like
bonded(sputtered(ion plated molybdenum disulphide, lead, gold etc. .old
welding of molecularly similar metal in contact with each other is a
possibility, which is to be aoided by proper selection of materials and dry
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Space Robotics
lubricants. 6ome of the subsystem that cannot be exposed to acuum will
need hermetical sealing. The thermal cycles and large thermal ariations
will hae to be taken care in design of robot elements. ?ow temperature can
lead to embrittlement of the material, weaken adhesie bonding and increase
friction in bearings. ?arge thermal gradients can lead to distortion in
structural elements and 1amming of the mechanism. This calls for the proper
selection of the materials whose properties are acceptable in the aboe
temperature ranges and the selection of suitable protectie coatings and
insulation to ensure that the temperature of the system is within allowable
limits.
).. OT*ER FACTORS
*ne of the prime requirements of space systems is lightweight and
compactness. The structural material to be used must hae high specific
strength and high specific stiffness, to ensure compactness, minimum mass
and high stiffness. The other critical enironment to which the space robot
will be sub1ected to are the dynamic loads during launch. These dynamic
loads are composed of sinusoidal ibrations, random ibrations, acoustic
noise and separation shock spectra.
The electrical and electronic subsystems will hae to be space
qualified to take care of the aboe enironmental conditions during launch
and in orbit. The components must be protected against radiation to ensure
proper performance throughout its life in orbit.
The space robots will hae to possess a ery high degree of
reliability and this is to be achieed right from the design phase of the
system. # failure mode effect and critical analysis 4',3.#7 is to be carried
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Space Robotics
out to identify the different failure modes effects and these should be
addressed in the design by
.hoosing proen(reliable designs.
=aing good design margins.
=ae design with redundancy.
).5 SPACE 4ODULAR 4ANIPULATORS
The unique thermal, acuum and graitational conditions of space
drie the robot design process towards solutions that are much different
from the typical laboratory robot. D6.Es #FR 5iision is at the forefront of
this design effort with the prototypes being built for the 6pace ,odular
,anipulators 46,,7 pro1ect. The first 6,, 1oint prototype has completed
its thermal%mechanical%electrical design phase, is now under construction in
the D6. shops, and is scheduled for thermal%ac chamber tests in 'GH-.
'GH+ was the 6,, pro1ectEs first year, initiating the effort with a
,ITR3 .orporation reiew of the existing space manipulator design efforts
4R,6 and 'T67 and interaction with ongoing deelopment teams
4R#I23R, D3,, 6;5,, 6T#R and 6#T7. 0elow this system leel, custom
component endors for motors, amplifiers, sensors and cables were
inestigated to capture the state%of%the%art in space robot design. 'our main
design driers were identified as critical to the deelopment process&
$. 3xtreme Thermal .onditions<
). =igh Reliability Requirements<
+. 5ynamic ;erformance< and
-. ,odular 5esign.
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Space Robotics
"hile these design issues are strongly coupled, most robot design
teams hae handled them independently, resulting in an iteratie process as
each solution impacts the other problems. The 6,, design team has sought
a system leel approach that will be demonstrated as prototypes, which will
be tested in the D6. thermal%acuum facilities.
The thermal%acuum conditions of space are the most dramatic
difference between typical laboratory robot and space manipulator design
requirements. ,anufacturing robots operate in climate controlled, JK
*4L,%7)M factory enironments, where space manipulators must be designed
for JK*4L,7 B8M temperature ariations with $899 "(m) of solar flux.
5espite these enironmental extremes, the technology to model and control
robot precision oer a wide temperature range can be applied to terrestrial
robotic operations where the extreme precision requirements demand total
thermal control, such as in semiconductor manufacturing and medical robot
applications.
Thermal conditions impact reliability by cycling materials and
components, adding to the dynamic loading that causes typical robot fatigue
and inaccuracy. ,ITR3 built a customised thermal analysis model, a failure
analysis model using '3#T, and applied the fault tolerance research funded
by D6. at the :niersity of Texas. The strategy is to layer low leel
redundancy in the 1oint modules with a high leel, redundant kinematic
system design, where minor 1oint failures can be masked and serious
failures result in reconfigured arm operation. In this approach, all four
design driers were addressed in the selection of the appropriate leel of
modular design as a )%5*' 1oint module.
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Space Robotics
The ma1or technical accomplishments for the 'GH+ 6,, pro1ect are&
$ .onceptual and detailed design of first 1oint prototype<
) 5etailed design and fabrication of thermal%acuum test facility<
+ .ustom design of thermal%ac rated motors, bearings, sensors and cables<
and
- ;ublished two technical papers 4R. #mbrose F R. 0erka7 on robot
thermal design.
Chapter-III
S6STE4 3ERIFICATION AND TESTIN,
The reliability is to be demonstrated by a number of tests
eneloping all the enironmental conditions 4thermal and acuum7 that the
system will be sub1ected to. !erification of functions and tests will be
conducted on subsystems, subassemblies and final qualification and
acceptance tests will be done on complete system. The most difficult and the
nearly impossible simulation during testing will be /ero g simulation.
The commonly used simulations for /ero g are
$ F$at f$oor te!t faci$it% It simulates /ero g enironments in the
hori/ontal plane. In this system flat floor concept is based on air bearing
sliding oer a large slab of polished granite.
) +ater immer!ion Reduced graity is simulated by totally submerging
the robot under water and testing. This system proides multi degree of
freedom for testing. =oweer, the model has to be water%resistant and
hae an oerall specific graity of one. This method is used by astronauts
for extra ehicular actiities with robot.
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Space Robotics
+ Compen!ation !%!tem 2raitational force is compensated by a passie
and ertical counter system and actiely controlled hori/ontal system. The
ertical system comprises the counter mechanism and a series of pulleys
and cables that proide a constant upward force to balance the weight of
the robot. =oweer, the counter mechanism increases the inertia and the
friction of 1oints of rotating mechanism.
..1 PERFOR4ANCE ASSESS4ENT AND CALI-RATION
STRATE,IES FOR SPACE RO-OTS
;redictable safe and cost efficient operation of a robotic deice for
space applications can best be achieed by programming it offline during
the preparation for the mission. .omputer aided design techniques are used
to assure that the moement of the robot are predictable. # software model
of the robot and its work cell is made and this must be compatible with the
model of the enironment in which the robot must perform. .ost efficiency
requirements dictate that a robot be calibrated, after which its performance
must be checked against specified requirements.
;roper use of miniaturi/ed sensing technology is needed to produce
a robot of minimum si/e, power requirement and consumption and mass.
This often requires minimi/ing the number and the type of sensors needed,
and maximi/ing the information 4such as position, elocity, and
acceleration7 which is gained from each sensor.
The study of methods of assessing the performance of a robot,
choosing its sensors and performing calibration and test, 36# passed a
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Space Robotics
contract with industry. Results of this work are applicable to any robot
whose kinematics chain needs accurate geometrical modeling.
..1.1 RO-OT PERFOR4ANCE ASSESS4ENT
The ob1ecties of robot performance assessment are
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 improement in accuracy in calibration.
The performance of the robot is assessed by making mathematical
model of the characteristics of the error source in each of its sub system
such as the 1oint, the robot link or its gripper. 'rom these the effects of
errors on the positioning accuracy of end effector 4the functioning tip of the
robot arm7 can be ealuated.
3rror sources are identified by a bottom up analysis, which tale
account of the capabilities of state of the art production technology. 'or
each robot subsystem error sources are identified and are sorted into three
categories.
6ystematic error which do not ary with time, such as parallelism,
concentricity and link length.
;seudo systematic error, which are time ariant yet predictable
such as temperature induced effects.
Random errors, which ary with time and cannot be, predicted such
as encoded noise.
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Space Robotics
*nce the error source hae been classified and its magnitude
defined, arious statistical methods may be used to ealuate its effects when
they work in combination. 6imply adding all the errors, take no account of
their statistical nature and gies an estimate which is safe but unduly
pessimistic< misapplication of statistics can produce an estimate, which is
too optimistic.
#ccuracy of some painting mechanism is frequently estimated by
separately eliminating the root mean square alue of each of the three error
types identified aboe and adding them. In the case of #,T6 pro1ect, all
error sources were considered as statistical ariables and a single root mean
square error at the end effector was of interest. The bottom up approach
used to establish the contribution of each power source error source was
alidated taking the case of manipulator for which a worst case accuracy of
).Bmm was predicted. This was ery close to its aerage accuracy of )mm.
..1.) RO-OT CALI-RATION
If the performance prediction has shown that calibration is needed
to compensate for errors, a proper calibration approach is required.
Ideally, all calibration must be done on ground. In orbit calibration
procedures should be limited to crosschecking the alidity of model
deeloped on ground and if necessary correcting for errors such as microslip
page or pressure gradient.
To keep the flight hardware simple, the in orbit calibration should
be achieed using sensors already aailable in the robot.
.alibration is performed in fie steps&
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Space Robotics
,odeling, in which a parametric description of the robot is deeloped,
introducing geometric parameters such as link length and non geometric
parameters such as control parameters.
,easurement, in which a set of robot poses 4position and orientation7 and
encoder data are measured using real robot to proide inputs to the
identification test step.
Identification, which uses the parametric model and the measured data to
determine the optimal set of error parameters.
,odel implementation, which may be done either by updating the root
controller data or by correcting the robot pose with expected standard
deiation of the error.
!erification, that the improement in the positioning accuracy of the
robot in all three axes hae been achieed.
# method for calibrating each axes independently has been
successfully deeloped in the frame of the contract. This method uses
independent measurements of motions along each of the three axes.
#dantage of this approach compared to others such as those requiring all
robot 1oints moe simultaneously is that it subdiides the general problem of
robot calibration into a set of problems of lower complexity, thus achieing
good stability and numerical precession. The calibration software is
parametric and is suitable for calibrating any open robot kinematics chain.
..1.. PERFOR4ANCE E3ALUATION
#s part of a erification procedure, specific performance tests were
carried out on a robot by Mrypton under contract to 36#. The first was an
accuracy test in which the robot had to adapt a specified pose and aim at a
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Space Robotics
point, key characteristics for predictable offline programming. The second
test ealuated the repeatability with which the robot could reach a pose it
had been taught to adopt. This is essential for performing repetitie and
routine tasks.
'inally, the multidirectional pose accuracy was tested to establish
the effect of random errors and to establish the limits of calibration
procedure. The performance of the robot was measured before and after
calibration.
;rocedures for calibrating robots on ground and in orbit hae been
deeloped, and the performance of the robotic deices has been successfully
tested. The robot calibration procedure proed to work well resulting in an
improement in performance by a factor of ten in some cases. The
calibration software is ersatile and it can be used to calibrate and ealuate
most kinematics chains ranging from a simple two axes antenna gimbals
mechanism to a ten axes manipulator. These software procedures are now
used by Mrypton for applications in most motor industry and elsewhere.
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Space Robotics
Chapter-I3
STRUCTURE OF SPACE RO-OTS
5.1 DESCRIPTION OF STRUCTURE OF SPACE RO-OT
The proposed robot is of articulated type with > degrees of freedom
45*'7. The reason for > 5*' system rather than one with lesser number of
5*' is that it is not possible to free/e all the information about possible
operations of the payload(racks in +5 space to exclude some 5*' of the
robot. =ence, a ersatile robot is preferred, as this will not impose any
constraints on the design of the laboratory payload(racks and proide
flexibility in the operation of the robot. # system with more than six 5*'
can be proided redundancies and can be used to oercome obstacles.
=oweer, the complexities in analysis and control for this configuration
become multifold.
The robot consists of two arms i.e. an upper arm and a lower arm.
The upper arm is fixed to the base and has rotational 5*' about pitch and
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Space Robotics
yaw axis. The lower arm is connected to the upper arm by a rotary 1oint
about the pitch axis. These + 5*' enable positioning of the end effector at
any required point in the work space. # three%roll wrist mechanism at the
end of the lower arm is used to orient the end effector about any axis. #n
end effector connected to the wrist performs the required functions of the
hand. ,otors through a drie circuit drie the 1oint of the arm and wrist.
#ngular encoders at each 1oint control the motion about each axis. The end
effector is drien by a motor and a pressure sensor(strain gauges on the
fingers are used to control the grasping force on the 1ob.
5.) DISCRIPTION OF SU-S6STE4S
The main subsystems in the deelopment of the manipulator arm
are
Doints
#rm
"rist
2ripper

5.).1 7OINTS
# 1oint permits relatie motion between two links of a robot. Two
types of 1oints are
$ Ro$$ 8oint 9 rotational axis is identical with the axis of the fully extended
arm.
) Pitch 8oint N rotational axis is perpendicular to the axis of the extended
arm and hence rotation angle is limited.
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Space Robotics
The main requirements for the 1oints are to hae near /ero
backlash, high stiffness and low friction. In iew of the limitations on the
olume to be occupied by the arm within the workspace, the 1oints are to be
highly compact and hence they are integrated to the arm structure. To ensure
a high stiffness of the 1oint the actuator, reduction gear unit and angular
encoders are integrated into the 1oint.
3ach 1oint consists of
;ancake type 5. torque motors 4rare earth magnet type7 which hae
adantage oer other types of motors with respect to si/e, weight,
response time and high torque to inertia ratio.
=armonic gear drie used for torque amplification(speed reduction.
These gear dries hae near /ero backlash, can obtain high gear
ratios in one stage only and hae high efficiency.
3lectromagnetically actuated friction brakes, which preent
unintentional moements to the arms. This is specifically required
when the gear drie is not self%locking. In space enironment, where
the graity loads are absent 4/ero g enironment7 brakes will help
to improe the stability of the 1oint actuator control system. i.e. the
brake can be applied as soon as the 1oint elocity is less than the
threshold alue.
3lectro optical angular encoders at each axis to sense the position of
the end of the arm. 6pace qualified lubricants like molybdenum
disulphide 4bonded film(sputtered7, lead, gold etc. will be used for
the gear dries and for the ball bearings.
5.).) RO-OT AR4S
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Space Robotics
The simplest arm is the pick and place type. These may be used to
assemble parts or fit them into clamp or fixture. This is possible due to high
accuracy attainable in robot arm. It is possible to hold the part securely after
picking up and in such a way that the position and the orientation remains
accurately known with respect to the arm. Robot arms can manipulate
ob1ects haing complicated shapes and fragile in nature.
5.).. +RIST
Robot arm comprises of grippers and wrist. "rist is attached to the
robot arm and has three 5*' 4pitch, yaw, and roll7. "rist possesses the
ability to deform in response to the forces and the torques and return to
equilibrium position after the deflecting forces are remoed.
5.).5 ,RIPPER
2ripper is attached to the wrist of the manipulator to accomplish
the desired task. Its design depends on the shape and si/e of the part to be
held.
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Space Robotics
Chapter-3
OPERATION
:.1 SPACE S*UTTLE RO-OT AR4 ;S*UTTLE RE4OTE
4ANIPULATOR S6STE4<
:.1.1 USE OF S*UTTLE RO-OT AR4
The 6huttleEs robot arm is used for arious purposes.
6atellite deployment and retrieal
.onstruction of International 6pace 6tation
Transport an 3!# crew member at the end of the arm and proide a
scaffold to him or her. 4#n 3!# crew member moes inside the cargo bay
in co%operation with the support crew inside the 6huttle.7
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Space Robotics
6urey the outside of the 6pace 6huttle with a T! camera attached to the
elbow or the wrist of the robot arm.
6huttle robot arm obsered from the deck
:.1.) RO-OT AR4 OPERATION 4ODE
6R,6 is operated inside the 6pace 6huttle cabin. The operation is
performed from the aft flight deck 4#'57, right behind the cockpit< either
through the window or by watching two T! monitors. To control the
6R,6, the operator uses the translational hand controller 4T=.7 with his or
her left hand and manipulates the rotational hand controller 4R=.7 with his
or her right hand.
T=. R=.
:.1.. *O+ SPACE S*UTTLE RO-OT AR4 ,RASPS O-7ECT=
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Space Robotics
=ow does the 6pace 6huttle robot arm grasp ob1ectsO ,any people
might think of human hand or magic hand, but its mechanism is as follows.
#t the end of the robot arm is a cylinder called the end effector. Inside this
cylinder equipped three wires that are used to grasp ob1ects. The ob1ect to be
grasped needs to hae a stick%shaped pro1ection called a grapple fixture. The
three wires in the cylinder fix this grapple fixture at the centre of the
cylinder.
=oweer, a sight is needed to acquire the grapple fixture while manipulating
a robot arm as long as -8 feet. The grapple fixture has a target mark, and a
rod is mounted ertically on this mark. The robot arm operator monitors the
T! image of the mark and the rod, and operates the robot arm to approach
the target while keeping the rod standing upright to the robot arm. If the
angular balance between the rod and the robot arm is lost, that can
immediately be detected through the T! image.
3nd effector and grapple fixture
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Space Robotics
Robot arms payload acquiring sequence
:.) FREE FL6IN, SPACE RO-OTS
The figure below shows an example of a free flying space robot. It
is called 3T6 !II 4engineering test satellite !II7. It was designed by
I#65# and launched in Ioember $HHB. In a free flying space robot a
robot arm is attached to the satellite base. There is a ery specific control
problem. "hen the robot arm moes, it disturbs the altitude of the satellite
base.
This is not desirable because,
The satellite may start rotating in an uncontrollable way.
The antenna communication link may be interrupted.
*ne of the research ob1ecties is to design robot arm tra1ectories
and to control the arm motion in such a way that the satellite base remains
undisturbed or that the disturbance will be minimum.
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Space Robotics
'ree flying space robots
:.. SPACE STATION 4OUNTED RO-OTS
The international space station 4I667 is a sophisticated structural
assembly. There will be seeral robot arms which will help astronauts in
performing a ariety of tasks.
Dept. of Mechanical Engg. MESCE Kuttippuram
)8
Space Robotics

D3,R,6
The figure shows a part of I66 including the Dapanese 3xperimental
,odule 4D3,7. # long manipulator arm can be seen. The arm is called
D3,R,6 4D3, Remote ,anipulating 6ystem7. # small manipulator arm
called 6;5, 46pecial purpose dexterous ,anipulator7 can be attached to
D3,R,6 to improe the accuracy of operation.
Dept. of Mechanical Engg. MESCE Kuttippuram
)>
Space Robotics
6;5,
:.5 SPACE RO-OT TELEOPERATION
6pace robotics is one of the important technologies in space
deelopments. 3specially, it is highly desired to deelop a completely
autonomous robot, which can work without any aid of the astronauts.
=oweer, with the present state of technologies, it is not possible to deelop
a complete autonomous space robot. Therefore, the teleoperation
technologies for the robots with high leels of autonomy become ery
important. .urrently, the technologies where an operator teleoperates a
space robot from within a spacecraft are already in practical use, like the
capture of a satellite with the shuttle arm. =oweer, the number of
astronauts in space is limited, and it is not possible to achiee rapid
progresses in space deelopments with the teleoperation from within the
spacecraft. 'or this reason, it has become highly desired to deelop the
Dept. of Mechanical Engg. MESCE Kuttippuram
)B
Space Robotics
technologies for the teleoperation of space robots from the ground in the
future space missions.
CONCLUSION
In the future, robotics will make it possible for billions of people to
hae lies of leisure instead of the current preoccupation with material
needs. There are hundreds of millions who are now fascinated by space but
do not hae the means to explore it. 'or them space robotics will throw open
the door to explore and experience the unierse.
Dept. of Mechanical Engg. MESCE Kuttippuram
)C
Space Robotics
REFERENCES
$. www.andrew.cmu.edu(Pycia(robot.html
). www.space.mech.tohoku.ac.1p(research(oeriew(oeriew.html
+. www.nanier.hq.nasa.go(telerobotics%page(technologies(98)-.html
-. www.1em.tksc.nasda.go.1p(iss(+a(orbQrmsQe.html
8. ;R*5:.TI*I T3.=I*?*2G by R. M. D#II
>. IITR*5:.TI*I T* 6;#.3 R*0*TI.6 by #?3R 3??3RG
Dept. of Mechanical Engg. MESCE Kuttippuram
)H