A keySIROM \b to the wider adoption of modular and reconfigurableReconfigurable \b robotic system is the creation of a standard interface to allow payloadPayload \i modules to be interfaced and changed easily. The payloadPayload \i modules can be found for applications such as on-orbit satellite servicing or planetary exploration. The realization of a standard interface (IF) allows the necessary mechanical interconnections with the possibility of electrical and data connection as well as thermalSpace environmentthermal \i transfer between these “modular building blocks”. Within this context, a standard interface has been developed in the SIROMSIROM \b(Standard InterfaceInterface \bfor Robotic ManipulationManipulation \b of payloads in future space missions) project and the interface combines the four required functionalities in an integrated and compact form as an integrated solution. With a mass lower than 1.5 kg and having an external diameter of 120 mm and a height of 30 mm, this novel interface permits not only mechanical coupling but also electrical, data and thermalSpace environmentthermal \i connectivity between so called Active Payload Modules (APMs) as well as other involved operators like the robotic end-effectors. This multi-functional IF is based on an androgynous design to allow replacement and reconfiguration of the individual modules in any combination desired. It consists of the following sub-assemblies: mechanical IF, electrical IF, data IF, thermalSpace environmentthermal \i IF and IF controller. A clear advantage of SIROM design is that its mechanical IF consists of a latching and guiding systems for misalignment correction capable of withstanding certain robotic arm positioning inaccuracies. For the electrical power connection, SIROM transfers up to 150W electrical power, whereas for the data interface, it provides a data transfer rate of 100Mbit/s via SpaceWire and a command communication with a speed up to 1Mbit/s via CAN bus. The thermalSpace environmentthermal \i IF provides fluidic ports for flow transfer and has the potential to transfer 2500W between APMs provided with the corresponding close-loop heat exchange system. SIROM also exhibits redundant coupling capabilities. It can match and couple another SIROM with the only need to actuate and control just one of them, while the other stays passive. It is provided with main and redundant connectors for thermalSpace environmentthermal \i, electrical, data and control flow in case of one of the lines fails. All in all, SIROM will allow long duration with no logistic support missions, reparability and reconfiguration of satellites, cost efficiency and simplification of the tool exchange in scientific exploration missions, among others.
SIROM an Enabler for Reconfigurable Space Robotics
Space Robotics ; Chapter : 10 ; 209-230
2024-12-12
22 pages
Article/Chapter (Book)
Electronic Resource
English
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