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The Next StepSPACE ROBOTICS INITIATIVE
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Robotic Assembly and Maintenance of Robotic Assembly and Maintenance of Space Solar Power FacilitiesSpace Solar Power Facilities
Robotic Assembly and Maintenance of Robotic Assembly and Maintenance of Space Solar Power FacilitiesSpace Solar Power Facilities
Red WhittakerThe Robotics Institute
Carnegie Mellon UniversityPittsburgh, PA 15213
The Next StepSPACE ROBOTICS INITIATIVE
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VisionVisionVisionVision
SSP is a compelling motivation for a robotic workforce• decades of operational life in high orbit• extensive scale and repeating topology• fragile and flexible structures• repetitive construction and maintenance tasks
Robots are an enabling technology for SSP• join structural elements, make electrical connections, replace
electronics modules, perform inspections,…• provide full life cycle robotic presence
Walking sticks are favored over fixed and free flying robots• free-flyers expend propellant and incur docking risks
• fixed manipulators require base structure, vast length and impart large base reaction forces
• walking sticks are an unexplored technology
The Next StepSPACE ROBOTICS INITIATIVE
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Heritage Systems & TechnologiesHeritage Systems & TechnologiesHeritage Systems & TechnologiesHeritage Systems & Technologies
Self Mobile Space Manipulator• node walker• adaptive control• visual tracking• gravity compensation
The Next StepSPACE ROBOTICS INITIATIVE
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Heritage Systems & TechnologiesHeritage Systems & TechnologiesHeritage Systems & TechnologiesHeritage Systems & TechnologiesAmbler and Dante walking robots
• gait planning• closed kinematic chain control• force regulation• task control
The Next StepSPACE ROBOTICS INITIATIVE
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Heritage Systems & TechnologiesHeritage Systems & TechnologiesHeritage Systems & TechnologiesHeritage Systems & Technologies
RWV and Pioneer worksystems• mobile manipulation• tooling• task operations
The Next StepSPACE ROBOTICS INITIATIVE
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Skyworker - Walking StickSkyworker - Walking StickSkyworker - Walking StickSkyworker - Walking Stick
• Assembles and maintains SSP facilities
• Grasps payloads and connects to other Skyworkers
• “Walks” by successive attachment to SSP backbone
• Steps softly and accommodates flexible structures
The Next StepSPACE ROBOTICS INITIATIVE
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The Next StepSPACE ROBOTICS INITIATIVE
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The Next StepSPACE ROBOTICS INITIATIVE
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9-Month Objectives9-Month Objectives9-Month Objectives9-Month Objectives
• Demonstrate SSP relevant AIM tasks using robotics– carry and handle materials– mate mechanical and electrical components– inspect surfaces, structure and modules
• Emulate prospective SSP AIM robots and tasks– explore alternative Skyworker designs and derive optimal
robot configuration– simulate Skyworker capabilities beyond those physically demonstrated – investigate alternative task approaches
The Next StepSPACE ROBOTICS INITIATIVE
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Project ScheduleProject ScheduleProject ScheduleProject Schedule
ConfigurationAnalysis & Design
ConfigurationAnalysis & Design
0 2 4 96month
CDR
PDR
Skyworker Development
Skyworker Development
Robot Tests& Exercises
Robot Tests& Exercises
CapabilityStudies
CapabilityStudies
SkyworkerEmulator
Development
SkyworkerEmulator
Development
DemonstrationDemonstration
The Next StepSPACE ROBOTICS INITIATIVE
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Robot DemonstratorRobot DemonstratorRobot DemonstratorRobot Demonstrator
• Mobility on representative SSP structures– attachment to structural elements– gait and motion control on flexible structures – threading between and wrapping around elements
• Manipulation of representative SSP components– grasping, carrying and docking of objects & tools– manipulation force regulation
• Goals– understand the robot’s interaction with SSP structures– verify robot configuration
task sequencinghuman interfaces
automated inspection
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Robot EmulatorRobot EmulatorRobot EmulatorRobot Emulator
• Quantify energy efficiency, speed, accuracy,…
• Explore alternative approaches to tasks– cooperating robots (pairs, triples, …)– individuals linked together in chains (parallel, serial)
• Model automation technologies– motion sequencing, perception, safeguarding– advanced task automation – automated inspection
• Goals– plug ‘n play compatibility with robot demonstrator– variable speed (real-time ±) operation– faithful representation of physics
The Next StepSPACE ROBOTICS INITIATIVE
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Process MapProcess MapProcess MapProcess Map
mechatronics• sensors• mechanicals• electronics• control
- mobility- manipulation
• automation- operations- tasks
emulation• kinetics• dynamics• planning
- gait- grasp
SSP facility mockup
• extent• flexibility• geometry
demonstration• tools & payloads• gravity
compensation
configuration• task analysis• robot kinematics