Experimental research on low-cost cold gas propulsion for a space robot platform

Kindracki, Jan; Tur, Karolina; Paszkiewicz, Przemysław; Mężyk, Łukasz; Boruc, Łukasz; Wolański, P.

doi:10.1016/j.ast.2016.12.001

Cited by 23 publications

(7 citation statements)

References 4 publications

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“…Space robots operate in the microgravity atmosphere and some research institutes have developed various simulators in the past decades. For example, a neutral-underwater-buoyancy simulator was developed in [28], active and passive suspension systems were designed in [29], [30], hardware-in-the-loop systems were proposed in [9] and [31], and a planar air-bearing simulators was developed in [32]. The b u o y a n c y s i m u l a t o r c a n [33] with scalability under laboratory conditions.…”

Section: A Related Workmentioning

confidence: 99%

Effective Capture of Nongraspable Objects for Space Robots Using Geometric Cage Pairs

Zhang

Liu

Feng

et al. 2020

IEEE/ASME Trans. Mechatron.

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Capture and removal of space debris is challenging in robotic on-orbit servicing (OOS) activities. A large portion of space debris does not possess any graspable features, which makes conventional grippers inapplicable. To handle such non-graspable objects, a space robotic capture system is presented. A dual-arm space robot simulator that has the advantages of miniaturization and scalability is designed for ground tests. Inspired by robotic caging, we propose a novel capture method that uses a series of hollow-shaped end-effector pairs to cage the antipodal pairs of non-graspable objects. To apply the caging-pair method steadily, space robots need exerting a squeezing action on objects, which can be characterized by the motion and force manipulation of two robotic arms in the assigned directions. Based on the velocity and force manipulability transmission ratios, a caging compatibility index is proposed to describe the capturing ability in this manner. Via the optimization of the desired caging compatibility index, an effective algorithm is proposed to plan near-optimal joint configurations for pre-grasping cages. Finally, both simulation studies and experimental tests are conducted to evaluate the performance of the proposed capture method. Index Terms-Non-graspable objects, space robot simulator, caging-pair method, caging compatibility index. R ! ! q q w J v J J Mv k J T Mv E k k k = t k J

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Section: A Related Workmentioning

confidence: 99%

Effective Capture of Nongraspable Objects for Space Robots Using Geometric Cage Pairs

Zhang

Liu

Feng

et al. 2020

IEEE/ASME Trans. Mechatron.

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show abstract

“…[51], the general approach presented in this section can be used for systems with a constant non-zero linear and angular momentum, as well as for systems subject to external torques and forces (in such case, the momentum and angular momentum change, e.g. due to actions of cold-gas thrusters mounted on the chaser satellite 54 ).…”

Section: Dynamics Of the Free-floating Satellite-manipulator Systemmentioning

confidence: 99%

Point-to-Point Motion Planning of a Free-Floating Space Manipulator Using the Rapidly-Exploring Random Trees (RRT) Method

Rybus

2019

Robotica

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SUMMARYIt is usually proposed to use a robotic manipulator for performing on-orbit capture of a target satellite in the planned active debris removal and on-orbit servicing missions. Control of the satellite-manipulator system is challenging because motion of the manipulator influences position and orientation of the chaser satellite. Moreover, the trajectory selected for the capture manoeuvre must be collision-free. In this article, we consider the case of a nonredundant manipulator mounted on a free-floating satellite.We propose to use the bi-directional rapidly-exploring random trees (RRT) algorithm to achieve two purposes: to plan a collision-free manipulator trajectory that, at the same time, will result in a desired change of the chaser satellite orientation. Several improvements are introduced in comparison to the previous applications of the RRT method for manipulator mounted on a free-floating satellite. Feasibility of the proposed approach is demonstrated in numerical simulations performed for the planar case in which the chaser satellite is equipped with a 2-DoF (Degree of Freedom) manipulator. The obtained results are analysed and compared with the results obtained from collision-free trajectory planning methods that do not allow to set the desired final orientation of the chaser satellite.

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“…Inoue et al [19] presented an approach to improve the maneuverability of the arm by adjusting the motion of the legs. To improve the operation ability of multiarm robots, several scholars have conducted research on capture characteristics [20,21], reconfigurable manipulation [22], modeling [7], and performance evaluation [23].…”

Section: Introductionmentioning

confidence: 99%

Design of Self-Reconfigurable Multiarm Robot Mechanism Based on Deployable Kinematic Chains

Zhao

Guo

et al. 2020

Chin. J. Mech. Eng.

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As the structures of multiarm robots are serially arranged, the packaging and transportation of these robots are often inconvenient. The ability of these robots to operate objects must also be improved. Addressing this issue, this paper presents a type of multiarm robot that can be adequately folded into a designed area. The robot can achieve different operation modes by combining different arms and objects. First, deployable kinematic chains (DKCs) are designed, which can be folded into a designated area and be used as an arm structure in the multiarm robot mechanism. The strategy of a platform for storing DKCs is proposed. Based on the restrictions in the storage area and the characteristics of parallel mechanisms, a class of DKCs, called base assembly library, is obtained. Subsequently, an assembly method for the synthesis of the multiarm robot mechanism is proposed, which can be formed by the connection of a multiarm robot mechanism with an operation object based on a parallel mechanism structure. The formed parallel mechanism can achieve a reconfigurable characteristic when different DKCs connect to the operation object. Using this method, two types of multiarm robot mechanisms with four DKCs that can switch operation modes to perform different tasks through autonomous combination and release operation is proposed. The obtained mechanisms have observable advantages when compared with the traditional mechanisms, including optimizing the occupied volume during transportation and using parallel mechanism theory to analyze the switching of operation modes.

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Experimental research on low-cost cold gas propulsion for a space robot platform

Cited by 23 publications

References 4 publications

Effective Capture of Nongraspable Objects for Space Robots Using Geometric Cage Pairs

Effective Capture of Nongraspable Objects for Space Robots Using Geometric Cage Pairs

Point-to-Point Motion Planning of a Free-Floating Space Manipulator Using the Rapidly-Exploring Random Trees (RRT) Method

Design of Self-Reconfigurable Multiarm Robot Mechanism Based on Deployable Kinematic Chains

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