Robotic assembly of truss structures for space systems and future research plans

Doggett, William R.

doi:10.1109/aero.2002.1035335

Cited by 60 publications

(40 citation statements)

References 14 publications

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“…6) serving as the assembly agents. 11,12 The attributes and implications of using mechanical versus welded connections for structures assembled in space are compared in Table 2.…”

Section: Assembly Sequencing and Path Planning Systemmentioning

confidence: 99%

“…11,12 Capabilities for in-space robotics and robotic servicing are also advancing rapidly 17,18,19 especially those developed during the Hubble Robotic Repair mission investigation, and represent well established current capabilities that would be used in the new assembly paradigm.…”

Section: New Assembly Paradigm and Concept Overviewmentioning

confidence: 99%

“…In parallel research, methods were also developed to enable robotic telescope assembly. The robotic work culminated in the repeated autonomous assembly (and disassembly) of an 8-meter diameter truss structure, composed of 102 individual truss members along with 12 hexagonal panels 12 ( Fig. 4b).…”

Section: Space Telescope Trusses and On-orbit Assemblymentioning

confidence: 99%

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An Efficient and Versatile Means for Assembling and Manufacturing Systems in Space

Dorsey

Doggett

Hafley

et al. 2012

AIAA SPACE 2012 Conference &Amp; Exposition

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Within NASA Space Science, Exploration and the Office of Chief Technologist, there are Grand Challenges and advanced future exploration, science and commercial mission applications that could benefit significantly from large-span and large-area structural systems. Of particular and persistent interest to the Space Science community is the desire for large (in the 10-50 meter range for main aperture diameter) space telescopes that would revolutionize space astronomy. Achieving these systems will likely require on-orbit assembly, but previous approaches for assembling large-scale telescope truss structures and systems in space have been perceived as very costly because they require high precision and custom components. These components rely on a large number of mechanical connections and supporting infrastructure that are unique to each application. In this paper, a new assembly paradigm that mitigates these concerns is proposed and described. A new assembly approach, developed to implement the paradigm, is developed incorporating: Intelligent Precision Jigging Robots, Electron-Beam welding, robotic handling/manipulation, operations assembly sequence and path planning, and low precision weldable structural elements. Key advantages of the new assembly paradigm, as well as concept descriptions and ongoing research and technology development efforts for each of the major elements are summarized. Nomenclature

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“…6) serving as the assembly agents. 11,12 The attributes and implications of using mechanical versus welded connections for structures assembled in space are compared in Table 2.…”

Section: Assembly Sequencing and Path Planning Systemmentioning

confidence: 99%

Section: New Assembly Paradigm and Concept Overviewmentioning

confidence: 99%

See 1 more Smart Citation

An Efficient and Versatile Means for Assembling and Manufacturing Systems in Space

Dorsey

Doggett

Hafley

et al. 2012

AIAA SPACE 2012 Conference &Amp; Exposition

View full text Add to dashboard Cite

show abstract

“…Mass is minimized both by 1) reducing segment size so that segment thickness can be reduced, without requiring additional degrees of freedom of actuation internal to the segment for shape control; and 2) minimizing the mechanical interconnections between segments. In-space assembly, either robotic or with astronauts, is plausible if the interconnection tasks are straightforward [10,14,15] and if control can be used to correct errors resulting from not having a precision deployable structure [6].…”

Section: Conceptmentioning

confidence: 99%

Control of a Hypersegmented Space Telescope

MacMynowski

2012

Journal of Guidance, Control, and Dynamics

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The primary mirror diameter of affordable space telescopes is limited by mass and manufacturing cost. Currently planned optical/near-infrared space telescopes use a segmented primary mirror with relatively few segments and make limited use of real-time position control. However, control can be used as an enabler for a fundamentally different, very highly segmented architecture, leading to a significant reduction in areal density, and hence a significant increase in the realistically achievable diameter of a space telescope. Weight can be reduced by minimizing the structure that supports mirror segments and instead relying on control for overall stiffness. Furthermore, smaller segments can be thinner (hence, lighter) while still providing sufficient internal rigidity. However, with these architectural changes, the control problem involves not only thousands of actuators and sensors but also many lightly damped modes within the control bandwidth. The objective here is to demonstrate that this control problem is solvable by applying a local control approach. This is illustrated for a 30-m-diam primary mirror composed of 12,000 0.3-m-diam segments.

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“…A UTONOMOUS rendezvous, proximity maneuvers, and docking are critical capabilities for the future development of space assets, and thus have gained increasing attention in the last decades that were primarily driven by the growing interest in orbital assembly of spacecraft and facilities [1][2][3], on-orbit servicing [4], and debris removal missions [5]. Rendezvous and proximity maneuvers often represent the most complex and delicate phases of a space mission.…”

Section: Introductionmentioning

confidence: 99%

Experimental Characterization of Inverse Dynamics Guidance in Docking with a Rotating Target

Wilde

Ciarcià

Grompone

et al. 2016

Journal of Guidance, Control, and Dynamics

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The performance of an inverse dynamics guidance and control strategy is experimentally evaluated for the planar maneuver of a "chaser" spacecraft docking with a rotating "target." The experiments were conducted on an airbearing proximity maneuver testbed. The chaser spacecraft simulator consists of a three-degree-of-freedom autonomous vehicle floating via air pads on a granite table and actuated by thrusters. The target consists of a docking interface mounted on a rotational stage with the rotation axis perpendicular to the plane of motion. Given a preassigned trajectory, the guidance and control strategy computes the required maneuver control forces and torque via an inverse dynamics operation. The recorded data of 150 experimental test runs were analyzed using two-way analysis of variance and post hoc Tukey tests. The metrics were maneuver success, vehicle mass change, maneuver duration, thruster duty cycle, and maneuver work. The results showed that the guidance and control algorithm provided robust performance over a range of target rotation rates from 1 to 4 deg ∕s. = maximum available torque, N · m T z = chaser torque about z axis of laboratory coordinate system, N · m t = maneuver time, s t D = total duration of docking maneuver, s t DA = duration of final docking approach, s t FF = duration of free-flight phase, s t f = final maneuver time, s W = maneuver work, J x C ; y C T = planar position vector of chaser center of mass in laboratory coordinate system, m x T ; y T T = planar position vector of the target center of rotation in laboratory coordinate system, m x; y; z = Cartesian coordinate system fixed in laboratory x 0 ; y 0 ; z 0 = Cartesian coordinate system fixed to chaser spacecraft simulator x 0 0 ; y 0 0 ; z 0 0 = Cartesian coordinate system fixed to target object γ = auxiliary maneuver targeting angle, rad Δm = chaser mass change, kg Δr = positioning tolerance for completion of docking maneuver, m Δt DA = extended maneuver time beyond nominal maneuver time, s Δt G = time step of the guidance algorithm, s ζ = auxiliary maneuver targeting angle, rad θ C = chaser orientation angle in relation to laboratory coordinate system, rad θ T = target orientation angle in relation to laboratory coordinate system, rad χ ij = thruster activity for thruster j at time step ∈ 0; 1, s ω T = target object angular rate, rad∕s

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Robotic assembly of truss structures for space systems and future research plans

Cited by 60 publications

References 14 publications

An Efficient and Versatile Means for Assembling and Manufacturing Systems in Space

An Efficient and Versatile Means for Assembling and Manufacturing Systems in Space

Control of a Hypersegmented Space Telescope

Experimental Characterization of Inverse Dynamics Guidance in Docking with a Rotating Target

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