The design of the robot subsystem of NASA's Asteroid Redirect Mission presented the unique challenge of retrieving a 20-ton boulder sized sample from the surface of a near Earth asteroid using multiple robot arms mounted to vehicle capable of touching down on the surface of the asteroid. The robot arms planned for use on the mission were based on heritage from Mars rovers and Restore-L satellite servicing to aid in meeting mass, cost, and schedule goals, which put constraints on the design and led to the use of light weight, low stiffness robot arms. The design of the rest of the Capture Module (CAPM) relied on an extensive analysis of the load capability of the robot arms, which utilized a high fidelity model of the robot arm subsystem to evaluate a large number of extraction scenarios and identify impactful modifications to the system that would increase the probably of mission success.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Analysis of the Robot Subsystem Capability for Boulder Extraction in the Asteroid Redirect Mission


    Contributors:


    Publication date :

    2020-03-01


    Size :

    15525692 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



    Asteroid Redirect Robotic Mission: Robotic Boulder Capture Option Overview

    Mazanek, Daniel D. / Merrill, Raymond G. / Belbin, Scott P. et al. | AIAA | 2014


    Increasing Baseline Robot Arm Boulder Extraction Robustness for Asteroid Redirect Robotic Mission (AIAA 2017-5119)

    Gefke, Gardell G. / Gallagher, William / Shirgur, Badri et al. | British Library Conference Proceedings | 2017


    NASA’s Asteroid Redirect Mission

    Gates, Michele / Johnson, Lindley N. | Springer Verlag | 2015


    Asteroid Redirect Mission (ARM)

    P. A. Abell / D. D. Mazanek / D. M. Reeves et al. | NTIS | 2016


    Asteroid Redirect Robotic Mission: Robotic Boulder Capture Option Overview (AIAA 2014-4432)

    Mazanek, D.D. / Merrill, R.G. / Belbin, S.P. et al. | British Library Conference Proceedings | 2014