Improvements to the Tendon-Actuated Lightweight In-Space MANipulator (TALISMAN) System

Doggett, William R.; Dorsey, John T.; Jones, Thomas C.; Lodding, Kenneth N.; Ganoe, George G.; Mercer, David; King, Bruce D.

doi:10.2514/6.2015-4682

Cited by 19 publications

(16 citation statements)

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“…The SRMS uses a traditional manipulator architecture that consists of lightweight booms connected by massive rotary joints that are systems of motors, gearboxes and brakes. The rotary joints account for 85 to 90 percent of the manipulator mass and manipulator compliance (in response to an applied load 5 ). The long booms result in restrictive packaging options, and adding joints to improve packaging would incur an extremely high mass penalty.…”

Section: Talisman Descriptionmentioning

confidence: 99%

“…Closed-form, parametric equations were derived for sizing the three primary structural members (truss links, spreaders and tendons, see Fig. 3c) based on applied loads and tip deflection constraints and used in a rapid design spreadsheet described in Doggett et al 5 . This spreadsheet-based design tool produced conservative structural mass estimates and sizing for a fully extended TALISMAN (as depicted in Fig.…”

Section: Structural Sizing and Mass Estimation Summarymentioning

confidence: 99%

“…As a result, a new and more sophisticated design and sizing tool has been created in MATLAB and is used for the sizing cases presented in this paper. This new tool for TALISMAN goes well beyond the previous spreadsheet design tool 5 that was primarily used for initial design and parameter space investigation. The new tool allows the input of variable geometry and configurations in multiple poses.…”

Section: Structural Sizing and Mass Estimation Summarymentioning

confidence: 99%

“…The concepts described in this paper, to retrieve all or a portion of an asteroid, are based on and leverage the capabilities of a new and novel Tendon-Actuated Lightweight In-Space MANipulator (TALISMAN) system 5 . The TALISMAN (manipulator-based) approach has the primary goal of dramatically increasing the versatility of the asteroid capture/enclosure system, allowing it to not only capture a free flying asteroid, but also accommodate many other possible mission scenarios involving larger asteroid bodies.…”

Section: Introductionmentioning

confidence: 99%

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Application of a Novel Long-Reach Manipulator Concept to Asteroid Redirect Missions

Dorsey

Doggett

Jones

et al. 2015

2nd AIAA Spacecraft Structures Conference

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A high priority mission currently being formulated by NASA is to capture all or part of an asteroid and return it to cis-lunar space for examination by an astronaut crew. Two major mission architectures are currently being considered: in the first (Mission Concept A), a spacecraft would rendezvous and capture an entire free flying asteroid (up to 14 meters in diameter), and in the second (Mission Concept B), a spacecraft would rendezvous with a large asteroid (which could include one of the Martian moons) and retrieve a boulder (up to 4 meters in diameter). A critical element of the mission is the system that will capture the asteroid or boulder material, enclose it and secure it for the return flight. This paper describes the design concepts, concept of operations, structural sizing and masses of capture systems that are based on a new and novel Tendon-Actuated Lightweight In-Space MANipulator (TALISMAN) general-purpose robotic system. Features of the TALISMAN system are described and the status of its technology development is summarized. TALISMAN-based asteroid material retrieval system concepts and concepts-of-operations are defined for each asteroid mission architecture. The TALISMAN-based capture systems are shown to dramatically increase operational versatility while reducing mission risk. Total masses of TALISMAN-based systems are presented, reinforcing the mission viability of using a manipulator-based approach for the asteroid redirect mission. NomenclatureACS = asteroid capture system ARM = asteroid redirect mission cg = center-of-gravity ConOps = concept of operations EB = enclosure bag EVA = extra-vehicular activity GCD = game changing division HRS = human robotics systems MATLAB = MATrix LABoratory (software suite) NEA = near-Earth asteroid PMC = polymeric composite RFI = request for information SOA = state-of-the-art SRMS = Shuttle remote manipulator system SSRMS = Space Station remote manipulator system TALISMAN = Tendon-

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Section: Talisman Descriptionmentioning

confidence: 99%

Section: Structural Sizing and Mass Estimation Summarymentioning

confidence: 99%

Section: Structural Sizing and Mass Estimation Summarymentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Application of a Novel Long-Reach Manipulator Concept to Asteroid Redirect Missions

Dorsey

Doggett

Jones

et al. 2015

2nd AIAA Spacecraft Structures Conference

Self Cite

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“…Reference [8] presents a study to understand the true dynamics of the tested space manipulator aiming at the problem encountered in ground physical simulation that the air-bearing support system changes the dynamics characteristics of the manipulator such as the natural frequencies, stiffness, and damping. References [9][10][11] study the configuration, dynamics, and control problem of a tendonactuated lightweight space manipulator.…”

Section: Introductionmentioning

confidence: 99%

Kane Method Based Dynamics Modeling and Control Study for Space Manipulator Capturing a Space Target

Han

2016

International Journal of Aerospace Engineering

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Dynamics modeling and control problem of a two-link manipulator mounted on a spacecraft (so-called carrier) freely flying around a space target on earth’s circular orbit is studied in the paper. The influence of the carrier’s relative movement on its manipulator is considered in dynamics modeling; nevertheless, that of the manipulator on its carrier is neglected with the assumption that the mass and inertia moment of the manipulator is far less than that of the carrier. Meanwhile, we suppose that the attitude control system of the carrier guarantees its side on which the manipulator is mounted points accurately always the space target during approaching operation. The ideal constraint forces can be out of consideration in dynamics modeling as Kane method is used. The path functions of the manipulator’s end-effector approaching the space target as well as the manipulator’s joints control torque functions are programmed to meet the soft touch requirement that the end-effector’s relative velocity to the space target is zero at touch moment. Numerical simulation validation is conducted finally.

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The Downsizing of a Free-Flying Space Robot

Jackson

Saaj

Seddaoui

et al. 2019

Towards Autonomous Robotic Systems

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Improvements to the Tendon-Actuated Lightweight In-Space MANipulator (TALISMAN) System

Cited by 19 publications

References 1 publication

Application of a Novel Long-Reach Manipulator Concept to Asteroid Redirect Missions

Application of a Novel Long-Reach Manipulator Concept to Asteroid Redirect Missions

Kane Method Based Dynamics Modeling and Control Study for Space Manipulator Capturing a Space Target

The Downsizing of a Free-Flying Space Robot

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