Skyworker%20Assembly,%20Inspection,%20and%20Maintenance%20of%20SSP%20Facilities - PowerPoint PPT Presentation

View by Category
About This Presentation
Title:

Skyworker%20Assembly,%20Inspection,%20and%20Maintenance%20of%20SSP%20Facilities

Description:

Assembly, Inspection, and Maintenance Tasks. 3D agile traversal of a truss structure ... Conduct calibration and inspection tasks. Connect power and ... – PowerPoint PPT presentation

Number of Views:95
Avg rating:3.0/5.0
Slides: 13
Provided by: JimOs6
Category:

less

Write a Comment
User Comments (0)
Transcript and Presenter's Notes

Title: Skyworker%20Assembly,%20Inspection,%20and%20Maintenance%20of%20SSP%20Facilities


1
SkyworkerAssembly, Inspection, and Maintenance
of SSP Facilities
William Red Whittaker Peter Staritz Chris Urmson
  • Field Robotics Center
  • December 8, 1999

2
Space Solar Power Assembly, Inspection, and
Maintenance (AIM)
  • Extensive structures
  • Kilometers in dimension
  • Millions of parts
  • SSP environment
  • Wide temperature range, sometimes exceeding 500K
  • Solar Proton Events
  • Galactic Cosmic Radiation
  • Microwave Radiation
  • Kilovolt buses
  • Long duration operations
  • 1 year construction
  • 30 years operation

3
Motivation for a Robotic Workforce
  • High, inaccessible orbit
  • Overwhelming EVA agenda
  • Millions of parts
  • 10s of Millions of Manipulations
  • Long term operations
  • Harsh environment
  • Robots are expendable and repairable
  • Lower support costs

4
Assembly, Inspection, and Maintenance Tasks
  • 3D agile traversal of a truss structure
  • Pick up and place payloads at arbitrary locations
    and orientations
  • Carry payloads while walking, turning, and
    transitioning planes
  • Conduct calibration and inspection tasks
  • Connect power and communications cables
  • Cooperatively carry bulky, massive payloads
  • Perform tasks that require multiple robot
    collaboration

Current Program
Future Work
5
Possible Avenues
  • Free Flying Systems
  • Require expenditure of mass to move
  • Result in tons of spare fuel
  • Risky docking operations
  • Fixed Manipulators (e.g. shuttle station)
  • Anchored to a hard point on the structure
  • Limited reach
  • Longer reach results in larger dynamic/reaction
    forces
  • Attached Mobile Manipulators (AMM)
  • No mass expenditure
  • Unlimited reach
  • Ability to walk lightly
  • Temporarily attach for working reaction forces
  • AMM is the archetype for SSP AIM

6
Skyworker Scope
  • Robot Prototype and Software Simulation
  • Demonstrate the viability of using robots for
    orbital construction
  • Prove the validity of using structure walkers for
    orbital AIM
  • Demonstrate SSP AIM relevant tasks using robotics
  • Simulate prospective SSP AIM robots and tasks

7
Skyworker
  • Self Contained
  • Continuous gait allows payload to move at
    constant velocity
  • Requires less energy
  • Exerts less stress on the structure (walks
    lightly)
  • Counterbalanced to emulate micro g
  • Onboard processor and distributed control network
  • Mass 35 kg
  • Dimensions 3 m x .5 m x .1 m
  • 11 DOF

8
Skyworker Simulation
  • 3D visualization of SSP AIM activity
  • Allows study of operations, and scale effects
  • Kinematic models demonstrate extended operations
  • Coordinated operations
  • Long term, large scale tasks

9
Results to Date
  • Skyworker developed
  • Component testing complete
  • Simulation package operational
  • Concept to operation in 99 days

10
Demonstration
  • Prototype
  • Pick up and carry a model transmitting element
    the length of the truss, turn while carrying,
    couple the element to the structure
  • Perform a mock calibration
  • Demonstrate walking lightly
  • Simulation
  • Perform prototype robot tasks
  • Perform plane transition
  • Assemble a large scale construction utilizing
    multiple robots
  • Emphasis placed on system level activity
  • Current grippers and sensors are placeholders for
    future development

11
Development Team
  • Skyworker has been developed by a team of staff
    and students at CMU
  • William Red Whittaker
  • Chris Gaiser
  • Oren Laskin
  • Dewitt Latimer
  • Jason Messinger
  • Jonathan Samuel
  • Sarjoun Scaff
  • Peter Staritz
  • Chris Urmson
  • Tim Warneck
  • Will Wong

12
Skyworker DOF
About PowerShow.com