Transcript Dexterous Servicing for Stuff

Robotic Augmentation of EVA
for Hubble Space Telescope Servicing
David L. Akin
Brian Roberts
Kristin Pilotte
Meghan Baker
Space Systems Laboratory
University of Maryland,
College Park
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Space Systems Laboratory
University of Maryland
Beam Assembly Teleoperator (c. 1984)
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Space Systems Laboratory
University of Maryland
HST EVA/Robotic Cooperation (1987)
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Space Systems Laboratory
University of Maryland
Ranger Telerobotic Flight Experiment
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Space Systems Laboratory
University of Maryland
Ranger Neutral Buoyancy Vehicle I
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Space Systems Laboratory
University of Maryland
Ranger NBV I Operations (c. 1996)
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Space Systems Laboratory
University of Maryland
Ranger Telerobotic Shuttle Experiment
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Space Systems Laboratory
University of Maryland
Ranger Telerobotic Shuttle Experiment
QuickTime™ and a
H.263 decompressor
are needed to see this picture.
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Space Systems Laboratory
University of Maryland
Ranger Flight Dexterous Arms
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Space Systems Laboratory
University of Maryland
Ranger TSX in HST Servicing Scenario
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Space Systems Laboratory
University of Maryland
Ranger Application to HST SM1
Hubble Space Telescope First Servicing Mission
18:00
EVA Hours (hh:mm)
15:00
12:00
9:00
EVA Daily
Average from
SM1
6:00
3:00
0:00
1
2
3
4
5
EVA Day
Ranger (pre-EVA)
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EV1 - with Ranger
Ranger (during EVA)
EV2 - with Ranger
Ranger (post-EVA)
Space Systems Laboratory
University of Maryland
Impact of Ranger-class Robot on SM3A
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Space Systems Laboratory
University of Maryland
Grasp Analysis of SM-3B
250
76
325
1157
1DOF tasks
2DOF tasks
Modified tasks
Dexterous tasks
Not yet categorized
52
Numbers refer to instances of grasp type over five EVAs
Total discrete end effector types required ~8-10
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Space Systems Laboratory
University of Maryland
Results of Robot Dexterity Analysis
• Broke 63 crew-hrs of EVA activity on SM3B into 1860 task primitives
• 82.5% of task primitives are viable
candidates for 2DOF robotic end effectors
– 62.2% 1DOF tasks
– 2.8% 2DOF tasks
– 17.5% tasks performed differently by robot than EVA
(e.g., torque settings)
• 4.1% inherently dexterous tasks
• 13.1% not yet categorized
• All SM-3B robotic tasks can be performed
by suite of 8-10 different end effectors
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Space Systems Laboratory
University of Maryland
Ranger Dexterous Arm in HST SM4
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Space Systems Laboratory
University of Maryland
Baseline SM4 Task Allocations
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RSUs (3)
Battery Modules (2)
COS
WFC3
ASCS/CPL
FGS3
NOBLs (3)
ASCS/STIK
DSC
Setup & Closeout
3:00
2:50
3:10
2:55
3:30
3:35
1:50
1:55
1:00
5:00
Space Systems Laboratory
University of Maryland
Approaches to Ranger Operations
• All scenarios assume Ranger dexterous
manipulator(s) mounted on RMS throughout
SM4
• Case 1: Single dexterous arm on modified MFR
– Case 1A: Operates only during EVA in support of crew (“third
hand”)
– Case 1B: Operates only when EVA is not underway (conservative
mode)
– Case 1C: Operates with and without EVA crew
• Case 2: Dual dexterous arms on RMS
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–
–
–
–
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Case 2A: Mounted on MFR; used only for EVA support
Case 2B: Mounted on MFR; used only outside of EVA
Case 2C: Mounted on MFR; used with and without EVA
Case 2D: Dedicated RMS mount; both EVA crew free-floating
Only Case 2C has been considered to date in any detail
Space Systems Laboratory
University of Maryland
Estimates of Relative Time Savings
SM4 Task
Case 1A
Case 1B
Case 1C
Case 2C
RSUs
–
–
–
10%
Batteries
10%
20%
30%
90%
COS
10%
10%
20%
35%
WFC3
10%
10%
20%
35%
ASCS/CPL
5%
5%
10%
30%
FGS3
–
5%
5%
10%
NOBLs
10%
20%
30%
80%
ASCS/STIK
5%
5%
10%
30%
DSC
–
–
–
10%
Setup &
Closeout
10%
60%
70%
90%
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Space Systems Laboratory
University of Maryland
HERCULES
Hubble EVA/Robotic Cooperative Utility for
Logistics and Experiment Servicing
• Incorporates one or two dexterous Ranger
manipulators onto RMS foot restraints
• Obtains power/data/video through RMS electrical
grapple fixture
• Arms can be powered and used to
release/engage launch latches (EVA not required
for integration and operation)
• Can be used stand-alone and as aid to EVA crew
in foot restraints
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Space Systems Laboratory
University of Maryland
HERCULES (Single Arm; Stowed)
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Space Systems Laboratory
University of Maryland
HERCULES (Dual Arm; non-EVA Ops)
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Space Systems Laboratory
University of Maryland
HERCULES (Dual Arm; EVA Operations)
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Space Systems Laboratory
University of Maryland
HERCULES/EVA Team in SM4 Operations
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Space Systems Laboratory
University of Maryland
HERCULES Proof-of-Concept Testing
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Space Systems Laboratory
University of Maryland
SM4 Time Savings with Ranger Arm(s)
SM4 Task
Case 1A
Case 1B
Case 1C
Case 2C
RSUs
–
–
–
0:18
Batteries
0:17
0:34
0:51
2:33
COS
0:19
0:19
0:38
1:06
WFC3
0:17
0:17
0:35
1:01
ASCS/CPL
0:10
0:10
0:21
1:03
FGS3
–
0:11
0:11
0:21
NOBLs
0:11
0:22
0:33
1:22
ASCS/STIK
0:06
0:06
0:11
0:34
DSC
–
–
–
0:06
Setup &
Closeout
0:30
3:00
3:30
4:30
Totals
1:50
4:59
6:50
12:54
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Space Systems Laboratory
University of Maryland
EVA/Robot Teams - ready for prime time!
• ~25% reduction in EVA time for HST battery servicing
using simple low-dexterity robot (neutral buoyancy)
• ~50% reduction in EVA time using Ranger on RMS to set
up and close out work site; supply logistics to EVA crew
(neutral buoyancy)
• 40% reduction in EVA time on SM-1 (analysis)
• 80% reduction in EVA time on SM-2 (analysis)
• 70% reduction in EVA time on SM-3A (analysis)
• ≥82.5% of tasks feasible for robot on SM-3B with ≤10
discrete end effectors (analysis)
• 43% reduction in task time for SM-4 using HERCULES
system
• 70% of flight hardware for HERCULES manipulators in
bonded storage at SSL (already bought and paid for!)
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Space Systems Laboratory
University of Maryland
For More Information
http://www.ssl.umd.edu
http://ranger.ssl.umd.edu/data/
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Space Systems Laboratory
University of Maryland