Transcript Dexterous Servicing for Stuff

SCOUT
Human/Robot Hybrids for
Deep Space EVA
David L. Akin
Mary L. Bowden
UMd Space Systems Laboratory
University of Maryland
Space Systems Design
SCOUT
Space Construction & Orbital Utility Transport
• SCOUT System:
– Two SCOUT spacecraft
– Docking Module (DM)
– eXtended Mission Pallet (XMP)
• Closed-cabin atmospheric
system for EVA
• Proposed element of the
Orbital Aggregation & Space
Infrastructure Systems (OASIS)
program
• Designed to operate with
proposed Gateway Station at
the Earth-Moon L1 Point
University of Maryland
Space Systems Design
SCOUT
SCOUT Major Design Constraints
•
•
•
•
•
•
•
Task/ human arm interaction
Worksite attach/ control
Zero pre-breathe
Shirt-sleeve operation
Operating Pressure: 8.3 psi
RMS attach fitting
IBDM w/ internal hatch
opening
• Accommodate 5% Japanese
female to 95% American
Male
• Escape system placement
University of Maryland
Space Systems Design
SCOUT
Basic SCOUT Dimensions
1.50
0.87
2.00
0.75
0.70
1.85
Side View
0.34
r = 0.33
0.82
Rear View
Bottom View
All dimensions in meters
University of Maryland
Space Systems Design
Exterior Features
External
Camera
Lights
SCOUT
Nitrogen Quad
Helmet w/ HUD
Handrail
Single Hydrazine
IBDM
External
Camera
Hydrazine
Triad
Star Tracker
Human AX-5 Arms
UHF
Task Arms
Radiator
Ka-Band
Mini-Workstation
Tool Posts
Escape System
Radiator
Grapple Arm
RMS Grapple Fixture
Laser Rangefinder
Front View
Rear View
University of Maryland
Space Systems Design
SCOUT
Internal Volume Constraints
• Major volume requirements
designed into the cabin layout
– Minimal volume required to
accommodate a 95% American
male
• Volume dimensions are 0.72m x
0.71m x 0.172m
• Internal components placed around
this volume
– Minimal volume required for a
controlled tumble
• Volume is a sphere with f1.22m
• Needed to flip over within SCOUT
University of Maryland
Space Systems Design
Internal Layout
SCOUT
Hand
Controllers
Touch Screen
Monitors
Internal
Camera
CO2/Air
System
Pressure
Control
Fire
Extinguisher
Waste
Collection
System
Front View
Storage
Box
Escape
Hatch
Keyboard
Computers
Foot restraint location(s)
Rear View
Isometric View
University of Maryland
Space Systems Design
SCOUT
Vehicle Mass/Power Breakdown
System
Allotted Mass (kg) Actual Mass (kg)
Power (W)
Loads, Structures,
and Mechanisms
850
796
240
Life Support and
Human Factors
275
235
295
Avionics
200
190
295
Power, Propulsion,
and Thermal
675
633
85
2000
1850
915
Total
University of Maryland
Space Systems Design
Transition from Earth to L1
4
1
SCOUT
ISS
SCOUT
3
2
L1 Gateway
5
Crew Transfer
Vehicle
SEP #2 &
SCOUT
SEP #1 &
Gateway
Not to Scale
Lin, Frank. Lunar L1 Gateway & SEP Design Briefing. 02 Nov 2001.
1.
2.
3.
4.
5.
Test Mission at ISS
SEP#1 travels with Gateway on autonomous spiral to L1
SEP#2 travels with SCOUT system
After SCOUT and Gateway Station are stable
Crew Transfer vehicle brings first crew for 6 month mission
University of Maryland
Space Systems Design
SCOUT
Nominal Missions
• Nominal six-month mission consists of 15 sorties per
SCOUT
– Eleven hours spent in the pod for eight hours of work
– Total SCOUT hours for two pods: 240 working hours
and 330 hours inside the pod
– End of life occurs at 600 sorties (20 years)
Example Sortie
Time
Activity
Time
Activity
00:30:00
Travel to worksite
07:45:00
Work Period 3
01:00:00
Worksite Translation
08:00:00
Break 3
03:00:00
Work Period 1
10:00:00
Work Period 4
03:15:00
Break 1
10:30:00
Travel to Gateway
05:15:00
Work Period 2
11:00:00
Dock to Gateway
05:45:00
Break 2 – Lunch
11:00:00
Total Sortie Time
University of Maryland
Space Systems Design
SCOUT
XMP / Docking Module
• eXtended Mission Pallet (XMP)
– Supports off-site extended
sorties
– Attaches between SCOUT and
tow-vehicle
– Provides off-site refueling/
recharging
– Shirt-sleeve atmosphere allows
passage from SCOUT to towvehicle
• Docking Module (DM)
– Attach points for two SCOUT
vehicles
– One port for connection to
Gateway
– Storage for 6 months of
[Conceptual Design]
University of Maryland
Space Systems Design
SCOUT
Docking Module Power System
• Triple Junction Crystalline Solar Arrays:
–
–
–
–
–
Advanced radiation protection
Consistent with OASIS design
Is = 1394W/m2
ρpower = 250W/kg
ηeff = 40%
Total Power Output
5000W
Surface Area/ Panel
4.5m2 (1 x 4.5m)
Mass/ Panel
10kg
University of Maryland
Space Systems Design
Attitude Sensors
Communication/
Video System
Propulsion System
FirewireData
DataBus
Bus
Firewire
Life Support
Sensors
Power Distribution
Astronaut Interface
Thermal Control
Robotic Control
SolidState
State
Solid
Recorder
Recorder
CompactPCI Bus
FDCC
FDCC
SCOUT
Avionics Top-Level Block Diagram
FDCC
Computer
Computer
Display
Display
Legend:
FDCC - Flight & Data Control Computer
- Primary Avionics Components
- Critical Crew Survival Systems
- Flight Control Systems
- Mission Systems
University of Maryland
Space Systems Design
Gimbaled
Ka-Band
Video System
Flight
computers
FDCC
FDCC
SCOUT
Communication Block Diagram
FDCC
Video Displays
Crew Interface
- Hand Controllers
- Switches
- Voice
UHF
Omni
Antenna
Switch
Antenna
Switch
Diplexer
Diplexer
Power
Amplifier
Transponder
Sensor
Data
University of Maryland
Space Systems Design
SCOUT
Worksite Interaction
• Heads-Up Display (HUD)
– Used for display of pertinent
information dealing with
• Flight control
• Robotic control
• General SCOUT system
HUD
• Hand Controllers
– Two 3-DOF controllers used for
translation and rotation control of
• Manual flight
• Operation of the task arms
• AX-5 Arm and Glove Sensors
– Used to control task arms
– Activated/deactivated by voice
command
• Voice Recognition
– System utilizes pre-allocated
communications hardware with the
FDCCs to process voice commands
– Allows for both coarse and fine
control of dexterous manipulators
Hand Controllers
University of Maryland
Space Systems Design
SCOUT
Dexterous Manipulator Design
• Task Arm
– Modeled after 8 DOF Ranger Telerobotic Shuttle Experiment arm
• Trade study found two arms to be the best choice
– One arm did not provide the ability to grasp the hardware being removed
while removing bolts and latches
– Three arms brought a concern about the interference of the arms with
each other and with the human arms due to intersecting work envelopes
• Uses interchangeable end effectors for task completion
– Max 8 end effectors on SCOUT
– End effectors needed will be predetermined prior to sortie
• Grapple Arm
– Modified version of the task arm
• Longer due to reach concerns for grappling
• Only has a pitch joint at end effector connection
• Uses universal grappling end effector that will be designed to be
used on a predetermined worksite
University of Maryland
Space Systems Design
SCOUT
Overall Structural Design
• Hexagonal Pressure Hull
– Load-bearing aluminum panels
incorporating Micrometeoroid (MM) and
Orbital Debris (OD) protection
– Stringers to transfer panel loads and serve
as hard attachment points for Shuttle
launching
• Outer Frame
– Load-bearing aluminum panels with MM
and OD protection
– House external tanks and electronics
– Back panel hinged for Li-Ion Battery
replacement and Power Distribution Unit
(PDU) servicing
• Main mechanisms
– International Berthing and
Docking Mechanism (IBDM)
– Dexterous Manipulators
– Remote Manipulator System (RMS)
University of Maryland
Space Systems Design
SCOUT
Tank and Thruster Placement
• 16, 1N Nitrogen thrusters
– For contamination-critical sites
– 4 quads
• 16, 6N Hydrazine thrusters
– For non-sensitive sites
– 4 triads
– 4 singles
Nitrogen
Propellant Tanks
Hydrazine
Propellant Tank
* One on each side
Nitrogen
Pressurant Tank
* One on each side
University of Maryland
Space Systems Design
SCOUT
SCOUT Power Requirements
• Base-Load Power Requirements:
– Loads assumed constant throughout 13hr sortie (includes reserve)
– Loads assumed safety-critical
System
Power Required (W)
Loads, Structures, and Mechanisms
240
Life Support and Human Factors
295
Avionics
295
Power, Propulsion, and Thermal
Total
85
915
• Peak-Load Power Requirements (for 2hr work period):
– Loads vary throughout work period
– Loads not safety-critical
Arm/ Type Operation
Time (hr)
Power Required (W)
Task/ Max Draw (2)
0.2
2000
Task/ Maneuvering (2)
0.8
400
Task/ Position Hold (2)
0.8
200
Grapple/ Maneuvering
0.2
250
University of Maryland
Space Systems Design
SCOUT
SCOUT Battery Placement
• Located near Power
Distribution Units (PDUs)
• Accessible via EVA to
fix/replace:
– 1 spare stored in
docking module
– 3 batteries replaced
once a year
Hinged back panel
EVA handrails
PDUs
Li-Ion Batteries
University of Maryland
Space Systems Design
SCOUT
Costing
• Cost based on heuristic formulas at the vehicle level for
both SCOUTs, the docking module, and the XMP
• SCOUTs
– Non-recurring Cost ($M) = $1180 Million
– 1st Unit Production = $87 Million
– 2nd Unit Production = $70 Million
• Docking Module
– Non-recurring Cost ($M) = $260 Million
– 1st Unit Production = $71 Million
• XMP
– Non-recurring Cost ($M) = $142 Million
– 1st Unit Production = $35 Million
Total = $1850 Million
University of Maryland
Space Systems Design
SCOUT
Summary
• SCOUT represents a revolutionary advance in
EVA capabilties for low earth orbit and beyond
• Direct integration of robotic and EVA capabilities
expands range of feasible applications
• Analysis shows that a single SCOUT sortie can
perform ISS servicing currently requiring 2 EVA
and 1 IVA crew
• L1 Gateway basing provides ideal location for
extended sorties performing servicing in
geostationary orbit, lunar orbit, other libration
points (EM and ES)
• Extends human presence throughout the EarthMoon system
University of Maryland
Space Systems Design
SCOUT
The SCOUT Team
• Avionics
– Aaron Hoskins
– Will Miller
– Oliver Sadorra
– Greg Stamp
• Crew Systems
– Katy Catlin
– Avi Edery
– John Hintz
– Andrew Long
– Alexandra Langley
• Loads, Structures, and
Mechanisms
– Justin Richeson
– Eric Rodriguez
– Ernest Silva
– Yudai Yoshimura
• Mission Planning and
Analysis
– Chris Bowen
– Wendy Frank
– Kirstin Hollingsworth
– Sadie Michael
– Jackie Reilly
• Power, Propulsion, Thermal
– Cagatay Aymergen
– Matt Beres
– Nathan Moulton
– Christopher Work
• Systems Integration
– Meghan Baker
– Tom Christy
– Jesse Colville
– Robyn Jones
University of Maryland
– Lynn Pierson
Space Systems Design
SCOUT
University of Maryland
Space Systems Design
SCOUT
For More Information
http://www.ssl.umd.edu
http://spacecraft.ssl.umd.edu
University of Maryland
Space Systems Design