Design of Universal Docking Port for Modular On-Orbit Servicing Robots
- Paper number
IAC-08.B4.7.13
- Author
Dr. Shuguang Li, Northwestern Polytechnical University, China
- Coauthor
Prof. Jianping Yuan, China
- Coauthor
Prof. Jianjun Luo, Northwestern Polytechnical University, China
- Coauthor
Prof. Xiaokui Yue, Northwestern Polytechnical University, China
- Year
2008
- Abstract
Current space applications are focused on many missions about space servicing, especially for On-Orbit Servicing (OOS). OOS include inspecting, repairing, maintaining, moving, and upgrading spacecrafts or satellites and extending their operational lifetime and capability by refueling and replacing. It has been studied extensively, developed and demonstrated on the Hubble Space Telescope and International Space Station. Space robotic On-Orbit Servicing technology is maturing. For various space applications, it is generally required that robotic systems are essential for complex space missions. Space robot system will perform many tasks that range from inspection, maintenance, and assembly, to scientific exploration, transportation, habitat construction, resource utilization, and astronaut assistant. A Modular Space Robot (MSR) design holds promise for reducing the amount of cost and time required for design, manufacturing, testing and applying of space robot system. The modular robot can be defined as a robotic system constructed from a set of standardized and reconfigurable components (or building blocks) with universal docking interfaces that allow transfer of mechanical forces and moments, electrical power, and communication throughout the robot. Modular robots permit the construction of a wide variety specialized robots from the set of standard components. It also has the ability to reuse these common modules across separate missions. The common component required to physically connect the modules is the Universal Docking Port (UDP).UDP is a fundamental part of the MSR. For a set of independent modules, UDP must to connect all of them together autonomously, rigid, safe and flexible. The UDP must be capable of performing these following functions between each module and these also are the essential design principles of UDP: a) Autonomously dock/undock; b) Universal and replaceable; c) Transfer mechanical loads; d) Transfer electrical power/fuel; e) Connection for data and communication. In this paper we designed a UDP for Modular On-Orbit Servicing Robots based these principles. Some technological detail and capabilities of our UDP as following: a) Universal mechanism: by inverse-symmetric design; b) Large docking tolerances: by guided holes; c) Large range/Lang distance/Multi-attitudes soft capture: by (1) Separate capturing head, (2) Connecting rod system, (3) Rotatable underpan; d) Undocking: Connecting rod system; e) Transfer mechanical loads: pins in holes; f) Electrical and data connection: series contact; g) Locking and unlocking of two UDP: worm wheel-worm lock. This paper includes there main sections: (I).Introduction of Modular On-Orbit Servicing Robots ;(II).Research and design of UDP ;(III).Result and conclusion.
- Abstract document
- Manuscript document
IAC-08.B4.7.13.pdf (🔒 authorized access only).
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