A multi-segment robot concept is developed for use in space based construction operations. The multi-stage robot is envisioned as a member of a class of large space robots, or space cranes, used in the assembly of advanced spacecraft. The multi-segment robot involves a collection of common bodies, or segments, that are pinned together to form a snake-like, or train, configuration. A single degree of freedom representing rotation is retained at each pinned connection. Reaction flywheels are suspended within each segment and provide the control necessary to position each body segment. Algorithms are developed to position this serpentine robot to a prescribed location and orientation. Specifically, one algorithm is used to compute a general shape, based on a constrained polynomial function, that locates the robot tip at the proper position. Another algorithm is developed for positioning the discrete bodies along the shape of the function. This information is used as the target values in a control system that uses the reaction flywheels to position each body into the desired relative position. A n-body simulation program is developed based on a Newton-Euler form of the equations of motion of the robot. The simulation is used to develop the robot control strategy, to verify its performance, and to size prototype hardware. Two cases are analyzed to investigate the dexterity of the proposed configuration.
Development of a large space robot: a multi-segment approach - Part 1
Die Entwicklung eines großen Roboters für die Raumfahrt: Eine Multi-Segment Entwicklung - Teil 1
1993
13 Seiten, 13 Bilder, 3 Tabellen, 14 Quellen
Conference paper
English
Raumfahrttechnik , technische Entwicklung , Roboter , Prozessoptimierung , Mehrkomponentenregelung , Handhabungstechnik , Leistungsbewertung , Freiheitsgrad , Robotersteuerung , Hardware , Prototyp , Positionierungsgenauigkeit , Euler-Gleichung , Simulationsmodell , Algorithmus , technische Beschreibung , Mehrgrößenregelung
Development of a large space robot: a multi-segment approach - Part 2
Tema Archive | 1993
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