Space

Robotics
Presented
by
Mahesh Babu.S
IV-Btech
Electronics and
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Communication

Introduction: Robot
Mechanical body ,
computer has its brain
Space Robotics
substitute or
subsidised for the man
activities in space
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Areas of
Application: In orbit positioning
and assembly
Operation
Maintenance
Resupply
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Scientific Appications
under the above
categories are

Scientific Experimentation
Assist crew in space station
assembly
Space servicing function
Space craft enhancements
Space Tug
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Space Shuttle Tile

Rewaterproofing robot

Tessellator-Mobile Manipulator
System
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RewaterproofingInjecting hazardous
dimethyloxysilane(DME
S)
Travelling workstation
problem(TWP)-serves a
certain area
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Objective of the TWP

is
To determine the
minimum number of
workspaces and their
layout
To determine the optimal
route of the workstation
movement
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The constraints of the

problem are
The workstation should
serve or cover all
workareas.
The patterns or dimensions
of each workspace are the
same and
There some geographical
obstacles or restricted
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Path of the Tesselator

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ROBOTS TO REFUEL
SATELLITES

The US department of
defenseAutonomous Space
Transporter and Robotic
Orbiter (ASTRO)
Expands lifespan of
satellites
carry out repair works on
faulty satellites
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CHALLENGES IN DESIGN
AND TESTING

zero gravity - physical

action and mechanism
performance
The vacuum and thermal
conditions of space material and sensor
performance
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ZERO g EFFECT ON
DESIGN
Arm will be light in
mass
Manipulator arm
-stiffness based
Joint actuators -selected
based on dynamic torque
(i.e.; based on the
acceleration of the arm).
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VACUUM EFFECT AND

THERMAL EFFECT
Total mass loss (TML) <1%
Collected volatile condensable
matter (CVCM) <0.1%.
Low temperature
-embrittlement of the material,
weaken adhesive bonding and
increase friction in bearings.
Large thermal gradients
-distortion123seminarsonly.com
in structural
elements and jamming of the

OTHER FACTORS
Prime requirements of
space systems is
lightweight and
compactness.
Dynamic loads during
launch-sinusoidal
vibrations, random
vibrations, acoustic
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(FMECA) is to be
carried out
Choosing proven/reliable
designs.
Having good design
margins.
Have design with
redundancy
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SPACE MODULAR
MANIPULATORS

The unique thermal, vacuum and

gravitational conditions of space
drive different from the typical
laboratory robot
Four main design drivers were
Extreme Thermal Conditions;
High Reliability Requirements;
Dynamic Performance; and
Modular Design.
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 Manufacturing robots
operate in climate controlled,
\|O(+,-)2K factory
environments
Space manipulators must be
designed for \|O(+,) 75K
temperature variations with
1500 W/m2 of solar flux.
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SYSTEM VERIFICATION
AND TESTING
The commonly used
simulations for zero g
are
Flat floor test facility
Water immersion
Compensation system
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ROBOT PERFORMANCE
ASSESSMENT
To identify the main source
of error which perturb the
accuracy of the arm.
To decide if the arm or the
work cell must be
calibrated.
To compare the expected
improvement in accuracy in
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 Error sources are identified

by a bottom up analysis
Error sources are identified
and are sorted into three
categories
Systematic error
Pseudo systematic error
Random errors
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ROBOT CALIBRATION
Calibration must be done on
ground
Calibration is performed in
five steps:
Modeling
Measurement,
Identification
Model implementation
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STRUCTURE OF SPACE
ROBOTS
6 degrees of freedom
(DOF).
The main subsystems in the
development of the
manipulator arm are
Joints
Arm
Wrist
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JOINTS
Two types of joints are
Roll joint
Pitch joint
Each joint consists of
Electro optical angular
encoders
Pancake type DC torque motors
Harmonic gear
Electromagnetically actuated
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friction brakes

OPERATION
SPACE SHUTTLE ROBOT ARM
Use
Survey the outside of the Space
Shuttle
Transport an EVA crew member
at the end of the arm
Satellite deployment and
retrieval
Construction of International
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Space Station

 Shuttle robot arm observed

from the deck

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ROBOT ARM
OPERATION MODE

THC
RHC

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HOW SPACE SHUTTLE

ROBOT ARM GRASPS
OBJECT?

End effector and grapple

fixture

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Robot arms payload acquiring

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FREE FLYING SPACE

ROBOTS
In a free flying space robot
a robot arm is attached to
the satellite base
The satellite may start
rotating in an
uncontrollable way.
The antenna
communication link may be
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Free flying space robots

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SPACE STATION MOUNTED

ROBOTS

JEMRMS
SPDM
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SPACE ROBOT
TELEOPERATION
Develop a completely
autonomous robot
Teleoperation technologies
for the robots with high
levels of autonomy become
very important
Teleoperation of space
robots from the ground in
the future space missions.
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CONCLUSION
In the future, robotics will makes
it possible for billions of people to
have lives of leisure instead of the
current preoccupation with
material needs.
There are hundreds of millions who
are now fascinated by space but do
not have the means to explore it.
For them space robotics will throw
open the door to explore and
experience the universe.

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REFERENCE
S

www.andrew.cmu.edu/~ycia/robot.html
www.space.mech.tohoku.ac.jp/research/ov
erview/overview.html
www.nanier.hq.nasa.gov/teleroboticspage/technologies/0524.html
www.jem.tksc.nasda.go.jp/iss/3a/orb_rms_
e.html
PRODUCTION TECHNOLOGY by R. K.
JAIN
INTRODUCTION TO SPACE ROBOTICS by
ALEX ELLERY
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