Transcript Skyworker: A Robot for Assembly and Maintenance of Space

Robotic Assembly and Maintenance of
Space Solar Power Facilities
Red Whittaker
The Robotics Institute
Carnegie Mellon University
Pittsburgh, PA 15213
[email protected]
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Vision
SSP is a compelling motivation for a robotic workforce
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decades of operational life in high orbit
extensive scale and repeating topology
fragile and flexible structures
repetitive construction and maintenance tasks
Robots are an enabling technology for SSP
• join structural elements, make electrical connections, replace
electronics modules, perform inspections,…
• provide full life cycle robotic presence
Walking sticks are favored over fixed and free flying robots
• free-flyers expend propellant and incur docking risks
• fixed manipulators require base structure, vast length and impart
large base reaction forces
• walking sticks are an unexplored technology
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Heritage Systems & Technologies
Self Mobile Space Manipulator
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node walker
adaptive control
visual tracking
gravity compensation
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Heritage Systems & Technologies
Ambler and Dante walking robots
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gait planning
closed kinematic chain control
force regulation
task control
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Heritage Systems & Technologies
RWV and Pioneer worksystems
• mobile manipulation
• tooling
• task operations
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Skyworker - Walking Stick
• Assembles and maintains SSP facilities
• Grasps payloads and connects to other Skyworkers
• “Walks” by successive attachment to SSP backbone
• Steps softly and accommodates flexible structures
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9-Month Objectives
• Demonstrate SSP relevant AIM tasks using robotics
– carry and handle materials
– mate mechanical and electrical components
– inspect surfaces, structure and modules
• Emulate prospective SSP AIM robots and tasks
– explore alternative Skyworker designs and derive optimal
robot configuration
– simulate Skyworker capabilities beyond those physically demonstrated
– investigate alternative task approaches
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Project Schedule
month
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4
Skyworker
Development
Configuration
Analysis
& Design
PDR
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Robot Tests
& Exercises
Demonstration
CDR
Skyworker
Emulator
Development
Capability
Studies
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Robot Demonstrator
• Mobility on representative SSP structures
– attachment to structural elements
– gait and motion control on flexible structures
– threading between and wrapping around elements
• Manipulation of representative SSP components
– grasping, carrying and docking of objects & tools
– manipulation force regulation
• Goals
– understand the robot’s interaction with SSP structures
– verify robot configuration
task sequencing
human interfaces
automated inspection
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Robot Emulator
• Quantify energy efficiency, speed, accuracy,…
• Explore alternative approaches to tasks
– cooperating robots (pairs, triples, …)
– individuals linked together in chains (parallel, serial)
• Model automation technologies
– motion sequencing, perception, safeguarding
– advanced task automation
– automated inspection
• Goals
– plug ‘n play compatibility with robot demonstrator
– variable speed (real-time ±) operation
– faithful representation of physics
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Process Map
demonstration
mechatronics
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sensors
mechanicals
electronics
control
SSP facility
mockup
• extent
• flexibility
• geometry
- mobility
- manipulation
• automation
- operations
- tasks
• tools & payloads
• gravity
compensation
emulation
configuration
• task analysis
• robot kinematics
• kinetics
• dynamics
• planning
- gait
- grasp
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