Multi-functional interface for payload interconnection of robotic systems in space
- Paper number
IAC-18,D3,IP,2,x45745
- Author
Mr. JAVIER VINALS, Spain, SENER Ingenieria y Sistemas, S.A.
- Coauthor
Mr. Eduardo Urgoiti, Spain, SENER Ingenieria y Sistemas, S.A.
- Coauthor
Mr. Gonzalo Guerra, Spain, SENER Ingenieria y Sistemas, S.A.
- Coauthor
Dr. Ignacio Valiente, Spain
- Coauthor
Mrs. Judit Esnoz-Larraya, Spain
- Coauthor
Mr. MICHEL ILZKOVITZ, Belgium, Space Applications Services N.V.
- Coauthor
Mr. Dogu Cetin, Belgium, Space Applications Services (SAS)
- Coauthor
Mr. Pierre Letier, Belgium, Space Applications Services (SAS)
- Coauthor
Prof. Xiu-Tian Yan, United Kingdom, University of Strathclyde
- Coauthor
Mr. Gwenole Henry, United Kingdom, University of Strathclyde
- Coauthor
Mr. Albino Quaranta, Italy, Thales Alenia Space Italia
- Coauthor
Mrs. Wiebke Brinkmann, Germany, DFKI Robotics Innovation Center Bremen
- Coauthor
Mr. Marko Jankovic, Germany, German Research Centre for Artificial Intelligence
- Coauthor
Dr. Sebastian Bartsch, Germany, DFKI GmbH
- Coauthor
Dr. Alessandro Fumagalli, Italy, Leonardo Spa
- Coauthor
Mr. Manfred Doermer, Germany, Airbus DS GmbH
- Year
2018
- Abstract
The development of standard payload modules for applications such as on-orbit satellite servicing or planetary exploration, strongly depends on the realization of a standard interface (IF) that allows the necessary mechanical interconnections with the possibility of electrical and data connection as well as thermal transfer between these “building blocks”. Within this context the developed IF in the SIROM (Standard Interface for Robotic Manipulation of payloads in future space missions) project is a solution that combines the four required functionalities in an integrated and compact form. With a mass lower than 1.5kg and having an external diameter of 120mm and a height of 30mm, this novel interface permits not only mechanical coupling but also electrical, data and thermal connectivity between so called Active Payload Modules (APMs) as well as other involved operators like the robotic end-effectors. This multi-functional IF is based on an androgynous design to allow replacement and reconfiguration of the individual modules in any combination desired. It consists of the following sub-assemblies: mechanical IF, electrical IF, data IF, thermal IF and IF controller. A clear advantage of SIROM design is that its mechanical IF consists of a latching and a guiding systems for misalignment correction capable of withstanding certain robotic arm positioning inaccuracies: +/-5mm translation and +/-1.5º rotation in all axes. Regarding the electrical and data IFs, SIROM transfers up to 150W electrical power and provides a data rate transfer of 100Mbit/s via SpaceWire and a command communication with a speed up to 1Mbit/s via CAN bus. The thermal IF provides fluidic ports for flow transfer and has the potential to transfer 2500W between APMs provided with the corresponding close-loop heat exchange system. Although not envisaged for SIROM current design, a possible variation could be to use these ports for satellite re-fueling. Apart from that, SIROM exhibits redundant coupling capabilities. It can match and couple another SIROM with the only need to actuate and control just one of them, while the other stays passive. It is provided with main and redundant connectors for thermal, electrical, data and control flow in case of one of the lines fails. All in all, SIROM will allow long duration with no logistic support missions, reparability and reconfiguration of satellites, cost efficiency and simplification of the tool exchange in scientific exploration missions, among others.
- Abstract document
- Manuscript document
IAC-18,D3,IP,2,x45745.pdf (🔒 authorized access only).
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