“…The perching arm augments Astrobee operations by providing a stable “perch” on ISS handrails (see Fig. 4 ), which reduces power consumption by the system and supports ideal camera viewing angles [ 6 , 7 ]. Fig.…”
Section: Experimental Design Materials and Methodsmentioning
confidence: 99%
“…The arm provides panning and tilting functionality to the Astrobee Free Flyer and attached cameras. The NASA design is captured in multiple papers [3] , [4] , [5] , [6] , [7] .…”
Section: Experimental Design Materials and Methodsmentioning
“…The perching arm augments Astrobee operations by providing a stable “perch” on ISS handrails (see Fig. 4 ), which reduces power consumption by the system and supports ideal camera viewing angles [ 6 , 7 ]. Fig.…”
Section: Experimental Design Materials and Methodsmentioning
confidence: 99%
“…The arm provides panning and tilting functionality to the Astrobee Free Flyer and attached cameras. The NASA design is captured in multiple papers [3] , [4] , [5] , [6] , [7] .…”
Section: Experimental Design Materials and Methodsmentioning
“…One of the limitations of the SPHERES platform is its reliance on consumables; primary batteries are used for electrical power along with canisters of compressed CO 2 for the propulsion system. This is being addressed in the Astrobee [24], [41], [42], a dedicated IVA robotic assistant for routine tasks such as tool inventory maintenance. Its development team envisions that swarms of Astrobees will eventually perform more complex tasks such as on-orbit telescope assembly.…”
“…Astrobee carries a perching arm in its top-aft bay that allows it to grasp ISS handrails and dwell for extended periods, so Astrobee can reduce its power consumption and its interference with ISS operations [18,19]. The perching arm can also support future manipulation research.…”
Section: Fig 3 Astrobee Perching Arm Pan Range; Yellow Arrow Indicatmentioning
and The Astrobee TeamAstrobee is a new class of free-flying robots that operate in the interior of the International Space Station (ISS). In addition to providing a research platform for zero-g free-flying robotics (replacing the Synchronized Position Hold Engage and Reorient Experimental Satellites (SPHERES)), Astrobee improves the efficiency of ISS operations by providing flight and payload controllers with a mobile camera/sensor platform. The Astrobee system consists of three robots, a docking station, and a ground data system. Development began in late 2014, and Astrobee will launch to ISS in late 2018. This paper provides an overview of the capabilities of the Astrobee system, the concept of operations for ISS operations support, and the challenges of operating a free-flying robot within the constraints of the ISS environment.
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