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Design and Integration of a Multi-arm Installation Robot Demonstrator for orbital large Assembly

Deremetz, Mathieu and Debroise, Maxence and De Stefano, Marco and Mishra, Hrishik and Brunner, Bernhard and Grunwald, Gerhard and Roa Garzon, Máximo Alejandro and Reiner, Matthias and Závodník, Martin and Komarek, Martin and D’Amico, Jurij and Cavenago, Francesco and Gancet, Jeremi and Govindaraj, Shashank and Letier, Pierre and Ilzkovitz, Michel and Gerdes, Levin and Zwick, Martin (2022) Design and Integration of a Multi-arm Installation Robot Demonstrator for orbital large Assembly. In: 73rd International Astronautical Congress, IAC 2022. International Astronautical Congress (IAC), September 2022, Paris.

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Official URL: https://iafastro.directory/iac/paper/id/72833/summary/


Space facilities for orbital exploitation and exploration missions are increasingly requiring larger structure to extend their capabilities. Dimensions of future scientific outposts, solar stations and telescopes undoubtedly matter to expand our horizons, power our planet or explore the universe. Due to the foreseen large structures for such applications, a single self-deploying piece contained in standard launcher fairings might become inadequate. Another approach is that large structures could be broken down into standard modules that will be built in-orbit. Assembling large structure in space is particularly challenging but the raise of key enablers as standard interconnects and advanced robotics opens a new horizon for such applications. It is assumed here that the large spacecraft structure and modules are equipped with standard interconnects (SI) that allow them to be mated to each other and to the robot system for manipulation/transport/installation, or to allow the robot system to move across them. This paper introduces the concept of a novel Multi-Arm Robot (MAR) dedicated to on-orbit large telescope assembly, its ground equivalent laboratory demonstrator design and preliminary hardware integration. The MAR is a modular robot composed of three robotic subsystems - a torso and two symmetrical 7-degree of freedom (DOF) anthropomorphic arms with non-spherical wrists - that are functionally independent and can be connected by the means of Standard Interconnects. The modular approach of the MAR reduces the complexity of the different robotic appendages and offers a set of robotic configuration that extends the range of possible operations and provides an intrinsic system redundancy that reduces the overall mission risk. To assess the MAR concept, a Technology Readiness Level (TRL) 4 ground demonstrator, has been designed to provide a framework that allows the multi-arm robot to execute its overall scope of operations in a ground laboratory environment. It comprises a testbed (dummy spacecraft structure, home base, storage area and mobile payloads) offering a space representative environment, a mission control center (computer, simulator and electrical/data support equipment) supervising the MAR's tasks, and a gravity compensation system (gantry crane and offloading system) for supporting the robot under 1-g.

Item URL in elib:https://elib.dlr.de/189349/
Document Type:Conference or Workshop Item (Speech)
Title:Design and Integration of a Multi-arm Installation Robot Demonstrator for orbital large Assembly
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Deremetz, MathieuSpace Applications ServicesUNSPECIFIEDUNSPECIFIED
Debroise, MaxenceSpace Applications ServicesUNSPECIFIEDUNSPECIFIED
De Stefano, MarcoUNSPECIFIEDhttps://orcid.org/0000-0003-3777-9487UNSPECIFIED
Mishra, HrishikUNSPECIFIEDhttps://orcid.org/0000-0002-5025-2447UNSPECIFIED
Brunner, BernhardUNSPECIFIEDhttps://orcid.org/0009-0002-8459-7934UNSPECIFIED
Grunwald, GerhardUNSPECIFIEDhttps://orcid.org/0000-0002-9306-1616UNSPECIFIED
Roa Garzon, Máximo AlejandroUNSPECIFIEDhttps://orcid.org/0000-0003-1708-4223UNSPECIFIED
Závodník, MartinFrentech Aerospace s.r.o.UNSPECIFIEDUNSPECIFIED
Komarek, MartinL.K. Engineering s.r.o.UNSPECIFIEDUNSPECIFIED
D’Amico, JurijThales Alenia Space FranceUNSPECIFIEDUNSPECIFIED
Cavenago, FrancescoLeonardo S.p.A.,UNSPECIFIEDUNSPECIFIED
Gancet, JeremiSpace Applications ServicesUNSPECIFIEDUNSPECIFIED
Govindaraj, ShashankSpace Applications ServicesUNSPECIFIEDUNSPECIFIED
Letier, PierreSpace Applications ServicesUNSPECIFIEDUNSPECIFIED
Ilzkovitz, MichelSpace Applications ServicesUNSPECIFIEDUNSPECIFIED
Gerdes, LevinEuropean Space Agency (ESA)UNSPECIFIEDUNSPECIFIED
Zwick, MartinEuropean Space Agency (ESA)UNSPECIFIEDUNSPECIFIED
Journal or Publication Title:73rd International Astronautical Congress, IAC 2022
Refereed publication:No
Open Access:Yes
Gold Open Access:No
In ISI Web of Science:No
Keywords:Space robotics, Relocatable robot, Modular robot, Mechanism Design, Standard Interconnects
Event Title:International Astronautical Congress (IAC)
Event Location:Paris
Event Type:international Conference
Event Dates:September 2022
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Robotics
DLR - Research area:Raumfahrt
DLR - Program:R RO - Robotics
DLR - Research theme (Project):R - On-Orbit Servicing [RO]
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Analysis and Control of Advanced Robotic Systems
Deposited By: De Stefano, Marco
Deposited On:25 Oct 2022 16:02
Last Modified:29 Mar 2023 00:52

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