A cost effective methodology for building flight spares for robotic life extension on the International Space Station

Truong, Vivian; Greco, Thomas; Kassam, Iqbal; D'Silva, Oneil; Tan, Ernest Y.-Z.

doi:10.1016/j.actaastro.2019.06.025

Cited by 6 publications

(4 citation statements)

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“…Middle group (3,4,5) End group (6,7) By analyzing the configuration of the SSRMS-type manipulators, it can be found that there are three adjacent parallel joints (joints 3, 4, and 5). If all these three adjacent parallel joints are not locked in the new 6-DOF manipulator, there exist analytical solutions.…”

Section: Axis Direction ω I Position R Imentioning

confidence: 99%

“…Space manipulators, such as the space station remote manipulator system (SSRMS) and the special purpose dexterous manipulator (SPDM), have played vital roles in on-orbit servicing (OOS) missions [1,2] such as assembly, capture [3,4], refueling, repair [5], and debris removal [6,7]. Compared with nonredundant space manipulators, 7-degree-of-freedom (DOF) space manipulators have advantages in obstacle avoidance, joint limit avoidance, operability enhancement [8], joint torque optimization, singularity avoidance, and joint failure [9,10].…”

Section: Introductionmentioning

confidence: 99%

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A Novel Analytical Inverse Kinematics Method for SSRMS-Type Space Manipulators Based on the POE Formula and the Paden-Kahan Subproblem

Yecong

Ding

Tang

et al. 2021

International Journal of Aerospace Engineering

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Space manipulators which have a similar symmetrical structure with seven revolute joints, such as the space station remote manipulator system (SSRMS), can be called SSRMS-type space manipulators. The analytical inverse kinematics of an SSRMS-type manipulator can be solved by locking a single joint; the locked joint (joint 1, 2, 6, or 7) can be determined by configuration analysis. Although widely used in establishing the kinematics of SSRMS-type manipulators, the Denavit-Hartenberg (DH) method has a singular problem when two adjacent joint axes are nearly parallel. To avoid this problem, this paper proposes a novel analytical inverse kinematics method for SSRMS-type manipulators based on the product of exponentials (POE) formula and the Paden-Kahan subproblem. Because of the symmetrical structure, an SSRMS-type manipulator degrades to two kinds of 6-degree-of-freedom (DOF) manipulators when locking a single joint (joint 1, 2, 6, or 7). The analytical inverse kinematics of these two kinds of 6-DOF manipulators is solved by combining the Paden-Kahan subproblems and geometric and algebraic methods, respectively. The proposed approach is not only singularity free compared with the traditional DH-based methods but also more accurate than the POE-based numerical solution. The simulation results verify the efficiency of the proposed approach.

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Section: Axis Direction ω I Position R Imentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

A Novel Analytical Inverse Kinematics Method for SSRMS-Type Space Manipulators Based on the POE Formula and the Paden-Kahan Subproblem

Yecong

Ding

Tang

et al. 2021

International Journal of Aerospace Engineering

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“…Its interface has become a standard interface for the robotic arm to grasp heavy loads. 35,41 Clamps. For the requirement of light space loads with high control accuracy, robotic arms usually need to use the clamp-type EERs, which possess higher control accuracy than the snare wire-type EERs.…”

Section: Grabbing Interfacesmentioning

confidence: 99%

A review on the interfaces of orbital replacement unit: Great efforts for modular spacecraft

Ren

Kong

Zhuang

et al. 2021

Proceedings of the Institution of Mechanical Engineers, Part G:

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Over the past decades, the development of single spacecraft for outer space exploration requires more complicated design and higher investment. From the modular design ideas of the International Space Station on-orbit service, an interface design for orbital replacement unit (ORU) provides a path to develop modular spacecraft with reduction of design period and cost for satellites. A review on the ORU interfaces has been made in order to summarize the development of grabbing interfaces, mechanical docking interfaces, and multifunctional docking interfaces of ORUs in the recent 30 years. The interface parameters for both grabbing and mechanical docking processes have been summarized and compared based on the design features of ORUs. The characteristics of mechanical, power, data, thermal flow, and fluid interfaces of the ORUs are discussed as well. The future direction, challenges, and applications of the ORU interfaces have been investigated, and advanced technologies such as target recognition and precise measurement and control are suggested for the development of autonomous and intelligent interfaces. This work provides fundamental knowledge and guidelines for the development of ORU interfaces.

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“…Satellites can fail because of a single component, and the costs are high. Therefore, countries are paying more and more attention to on-orbit service technology [1][2][3][4][5]. On-orbit service refers to providing services for human-crewed or uncrewed spacecraft in space, including the repair and replacement of spacecraft components, spacecraft relocation, and liquid transfer.…”

Section: Introductionmentioning

confidence: 99%

A Novel Motor Structure with Extended Particle Swarm Optimization for Space Robot Control

Gao

Liu

Wang

et al. 2023

Sensors

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This paper studies motor structures and optimization methods for space robots, proposing an optimized stepped rotor bearingless switched reluctance motor (BLSRM) to solve the poor self-starting ability and significant torque fluctuation issues in traditional BLSRMs. Firstly, the advantages and disadvantages of the 12/14 hybrid stator pole type BLSRM were analyzed, and a stepped rotor BLSRM structure was designed. Secondly, the particle swarm optimization (PSO) algorithm was improved and combined with finite element analysis for motor structure parameter optimization. Subsequently, a performance analysis of the original and new motors was conducted using finite element analysis software, and the results showed that the stepped rotor BLSRM had an improved self-starting ability and significantly reduced torque fluctuation, verifying the effectiveness of the proposed motor structure and optimization method.

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A cost effective methodology for building flight spares for robotic life extension on the International Space Station

Cited by 6 publications

References 0 publications

A Novel Analytical Inverse Kinematics Method for SSRMS-Type Space Manipulators Based on the POE Formula and the Paden-Kahan Subproblem

A Novel Analytical Inverse Kinematics Method for SSRMS-Type Space Manipulators Based on the POE Formula and the Paden-Kahan Subproblem

A review on the interfaces of orbital replacement unit: Great efforts for modular spacecraft

A Novel Motor Structure with Extended Particle Swarm Optimization for Space Robot Control

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