Abstract Interest in space robotic free-flyers for orbital tasks such as fabrication, observation, and on-obit servicing has led to research with Astrobee, a cuboid free-flying spacecraft-manipulator system on-board the International Space Station (ISS). Astrobee is equipped with a three degree-of-freedom robotic arm composed of a two-revolute-joint, two-link perching arm, with a three-finger gripper end effector. Astrobatics is a campaign of experiments designed to explore the use of Astrobee’s robotic arm for orbital self-toss hopping maneuvers. This paper provides an overview of the Astrobee vehicle, followed by a description of the Astrobatics experiments in ground test facilities and on the ISS. Equations of motion for robotic self-toss maneuvers are developed. The results from the first Astrobatics experimental session are then compared against simulation, and the results from the second Astrobatics experimental session are provided, with a discussion of experimental observations and limitations, and followed by a description of future Astrobatics research.
Highlights Orbital hopping maneuvers aboard the International Space Station with Astrobee. Proximal and distal self-toss maneuvers with a three degree of freedom robotic arm. Comparison of flight data sets to a simulation self-toss model. Self-toss hopping maneuvers as a method of initial locomotion in space operations.
Orbital hopping maneuvers with Astrobee on-board the International Space Station
Acta Astronautica ; 207 ; 62-76
2023-02-23
15 pages
Aufsatz (Zeitschrift)
Elektronische Ressource
Englisch
Orbital hopping maneuvers with two Astrobee free-flyers: Ground and flight experiments
BASE | 2022
|Astrobee Space Station Robotic Free Flyer
NTRS | 2016
|SPHERES and Astrobee: Space Station Robotic Free Flyers
NTRS | 2017
|Astrobee: Space Station Robotic Free Flyer
NTRS | 2016
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