This work will focus on the analysis of different issues that may arise when a light-weight robotic arm mounted on a small spaceplane -similar to the ESA-IXV- is employed to grasp a nearby orbiting object. It is well known that a space manipulator, together with its supporting spacecraft, behaves as an unconstrained body. Therefore the motion of any of its parts affects the entire system configuration. This aspect is even more important when the inertia properties of the space-platform are comparable with the ones of the robotic arm and of the payload (once grabbed). On account of this the deploying manoeuver should be “optimized” in order to reduce unwanted disturbances on the main platform as much as possible. Even though the maneuvers of robotic arms are typically quite slow, in the case of the grasping of uncooperative targets this could not be true, due to the residual velocity and to the gravity gradient forces. The light weight characteristics, associated to low stiffness components, together with the fast operations may induce undesired oscillations on the joints, and consequently transmit them to the overall multibody system. This will result in additional stresses with respect to the ideal all-rigid case, in particular to the joints and the motors of the robotic arm. The present work has been developed by Sapienza-Università di Roma, taking inspiration from the activities performed in the wider framework of the SAPERE-STRONG project, funded by the Italian Ministry for Research and led by Thales-Alenia-Space Italia, focused on the design of a small Italian re-entry vehicle with orbital operations capabilities named PRIDE.
Deployment and post grasping issues for a light weight robotic arm mounted on a small space-services shuttle / Gasbarri, Paolo; Sabatini, Marco; DE CESARIS, Andrea. - STAMPA. - Volume 8, 2015:(2015), pp. 6209-6220. (Intervento presentato al convegno 66th International Astronautical Congress 2015: Space - The Gateway for Mankind's Future, IAC 2015; Jerusalem; Israel; 12 October 2015 through 16 October 2015; Code 122921 tenutosi a Jerusalem nel 12-16 October 2015).
Deployment and post grasping issues for a light weight robotic arm mounted on a small space-services shuttle
GASBARRI, Paolo;SABATINI, MARCO;DE CESARIS, ANDREA
2015
Abstract
This work will focus on the analysis of different issues that may arise when a light-weight robotic arm mounted on a small spaceplane -similar to the ESA-IXV- is employed to grasp a nearby orbiting object. It is well known that a space manipulator, together with its supporting spacecraft, behaves as an unconstrained body. Therefore the motion of any of its parts affects the entire system configuration. This aspect is even more important when the inertia properties of the space-platform are comparable with the ones of the robotic arm and of the payload (once grabbed). On account of this the deploying manoeuver should be “optimized” in order to reduce unwanted disturbances on the main platform as much as possible. Even though the maneuvers of robotic arms are typically quite slow, in the case of the grasping of uncooperative targets this could not be true, due to the residual velocity and to the gravity gradient forces. The light weight characteristics, associated to low stiffness components, together with the fast operations may induce undesired oscillations on the joints, and consequently transmit them to the overall multibody system. This will result in additional stresses with respect to the ideal all-rigid case, in particular to the joints and the motors of the robotic arm. The present work has been developed by Sapienza-Università di Roma, taking inspiration from the activities performed in the wider framework of the SAPERE-STRONG project, funded by the Italian Ministry for Research and led by Thales-Alenia-Space Italia, focused on the design of a small Italian re-entry vehicle with orbital operations capabilities named PRIDE.File | Dimensione | Formato | |
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Note: https://iafastro.directory/iac/archive/browse/IAC-15/C2/2/29053/
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