Design, Analysis and Control of a Free-Floating Robotic Arm for Spacecraft Maneuvering and Docking Test Facility
Independent thesis Advanced level (degree of Master (Two Years)), 20 credits / 30 HE creditsStudent thesis
Robotics in space has evolved in the past quarter century by a large extent enabling mankind to explore the far reaches of space and also study the earth from beyond the skies. The advances and achievements in space robotics clearly indicate the growing need for space related activities. Therefore, it is required to constantly develop new technologies so as to ensure the development of robotics. In order to do so, these technologies needs to designed, developed and tested on Earth before being sent into space. One of the most common techniques is the use of Air bearing platforms that can simulate micro-gravitational environment, similar to that of the outer space. These testing facilities help understand the dynamics and behavior of the spacecraft in zero gravity. The objective of the project is to understand the behavior of a robotic arm that can be used to capture another spacecraft and help in maneuvering and docking operations. In order to achieve this objective, a free floating robotic arm with three joints has been designed in Solid Edge and analyzed with NASTRAN and Femap. A control system to control the robotic arm in the horizontal plane has also been developed. Finally, both the design and the control have undergone a series of basic tests to demonstrate the repeatability and durability of the design. This project has been undertaken at Julius Maximilians Universität Würzburg (JMUW) at the Chair of Aerospace Information Technology.
Place, publisher, year, edition, pages
2014. , 85 p.
Technology, Free floating, Robotics, Robotic arm, Control, Structural Analysis, Spacecraft, Spacecraft Docking, Air bearing
IdentifiersURN: urn:nbn:se:ltu:diva-57237Local ID: debeb8e1-9ede-4edf-8b97-a00f493b1748OAI: oai:DiVA.org:ltu-57237DiVA: diva2:1030624
Subject / course
Student thesis, at least 30 credits
Space Engineering, master's level
Montenegro, SergioEjemalm, Johnny
Validerat; 20141215 (global_studentproject_submitter)2016-10-042016-10-04Bibliographically approved