Development of Transport and Manipulation Robotic System for Operation on the Spacecraft Surface

DOI

10.2991/icamia-15.2015.27How to use a DOI?

Keywords

transport and manipulation systems; robotics; group interaction; grippers; spacecraft; space

Abstract

This work is devoted to creation of transport and manipulation robotic system (TMS) to work on the surface of the spacecraft. Undoubtedly, the TMS is a powerful tool in solving problems of the study of space, so it is evident that the role of space robotics is continuously increasing due to the need to develop and maintain global communications, navigation and surveillance, permanent manned and visited space stations and bases on the Moon and on the planets of the solar system. As a basic model of a transport subsystem we proposed the symmetrical structure with seven degrees of freedom. The paper describes the structure of the system and provides its kinematics. The article presents the data obtained from the simulation in the MSC.ADAMS package. Thanks to the simulation were obtained predictive characteristics and defined functions of the robotic system. This allowed us to define a technical way to create transport and manipulation robotic system to service the outer surface of the spacecraft. Also this paper deals with the grouped operation of interacting objects (manipulators). These methods of grouped operation are mainly used to control groups of mobile robots, but as specified in [1.2], the general principles of control of the group interaction do not depend on the physical nature (and moreover on the kinematic characteristics) of the interacting objects.

Copyright

© 2015, the Authors. Published by Atlantis Press.

Open Access

This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

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TY  - CONF
AU  - I.Y. Dalyaev
AU  - E.Y. Smirnova
AU  - I.A. Vasiliev
AU  - A.A. Koshurina
AU  - M.S. Krasheninnikov
PY  - 2015/12
DA  - 2015/12
TI  - Development of Transport and Manipulation Robotic System for Operation on the Spacecraft Surface
BT  - Proceedings of the 2015 International Conference on Advanced Manufacturing and Industrial Application
PB  - Atlantis Press
SP  - 106
EP  - 108
SN  - 2352-5401
UR  - https://doi.org/10.2991/icamia-15.2015.27
DO  - 10.2991/icamia-15.2015.27
ID  - Dalyaev2015/12
ER  -