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The Motion Suspension System – MSS: A Cable-Driven System for On-Ground Tests of Space Robots

Elhardt, Ferdinand and Boumann, Roland and De Stefano, Marco and Heidel, Robin and Lemmen, Patrik and Heumos, Martin and Jeziorek, Christoph and Roa, Maximo A. and Schedl, Manfred and Bruckmann, Tobias (2023) The Motion Suspension System – MSS: A Cable-Driven System for On-Ground Tests of Space Robots. In: 16th International Federation of Theory of Machines and Mechanisms World Congress, IFToMM WC 2023, 148 (2), pp. 379-388. Springer, Cham. 16th IFToMM World Congress 2023, 2023-11-05 - 2023-11-09, Tokio, Japan. doi: 10.1007/978-3-031-45770-8_38. ISBN 978-303145769-2. ISSN 2211-0984.

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Official URL: https://link.springer.com/chapter/10.1007/978-3-031-45770-8_38

Abstract

Robotic manipulators play an important role in space exploration and pave the way for satellite lifetime extensions, orbital asset inspections, and deorbiting. However, space robots are tested in Earth’s gravity although they are designed for zero gravity. The joints are limited in the torque which might be below of what is necessary to move on ground. To address this challenge, the paper presents the Motion Suspension System (MSS), a novel suspension system for on-ground tests of space robots which allows functional tests in the full, three-dimensional workspace. It is based on a cable-driven parallel robot controlled in admittance mode. The mechanical interface and the optimal gravity compensation strategy are optimized for maximum joint torque reduction. The cables are actuated using direct-drive motors. For demonstrating the feasibility of the MSS, we provide experimental results using the compliant CAESAR space robot arm by the German Aerospace Center (DLR).

Item URL in elib:https://elib.dlr.de/199117/
Document Type:Conference or Workshop Item (Speech)
Title:The Motion Suspension System – MSS: A Cable-Driven System for On-Ground Tests of Space Robots
Authors:
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Elhardt, FerdinandUNSPECIFIEDhttps://orcid.org/0009-0007-5896-6704UNSPECIFIED
Boumann, RolandUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
De Stefano, MarcoUNSPECIFIEDhttps://orcid.org/0000-0003-3777-9487UNSPECIFIED
Heidel, RobinUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Lemmen, PatrikUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Heumos, MartinUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Jeziorek, ChristophUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Roa, Maximo A.UNSPECIFIEDhttps://orcid.org/0000-0003-1708-4223UNSPECIFIED
Schedl, ManfredUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Bruckmann, TobiasUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Date:4 November 2023
Journal or Publication Title:16th International Federation of Theory of Machines and Mechanisms World Congress, IFToMM WC 2023
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In SCOPUS:Yes
In ISI Web of Science:No
Volume:148
DOI:10.1007/978-3-031-45770-8_38
Page Range:pp. 379-388
Publisher:Springer, Cham
Series Name:Mechanisms and Machine Science
ISSN:2211-0984
ISBN:978-303145769-2
Status:Published
Keywords:space robotics, cable-driven parallel robot, gravity compensation, offload mechanism, suspension system, on-ground tests
Event Title:16th IFToMM World Congress 2023
Event Location:Tokio, Japan
Event Type:international Conference
Event Start Date:5 November 2023
Event End Date:9 November 2023
Organizer:IFToMM
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)
Deposited By: Elhardt, Ferdinand
Deposited On:30 Nov 2023 13:12
Last Modified:24 Apr 2024 20:59

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