System Requirements Elicitation and Conceptualization for a Novel Space Robot Suspension System

Abstract

Robotic manipulators play a pivotal role in space exploration and pave the way for satellite lifetime extensions, orbital asset inspections, and deorbiting. However, space robots are tested under Earth's gravity despite being designed for zero gravity. Most space robots are constructed such that they cannot bear the Earth's gravitational loads, necessitating an external support system for on-ground tests. Conventional test facilities, however, face significant limitations including workspace constraints and influence of the dynamics. Against this background, a novel suspension system for non-gravity-bearing space robots is planned. To address this challenge, the paper reviews mechanical suspension systems for space robot test setups and outlines essential requirements for the novel suspension system. A comparative analysis of concepts that fulfill the stated requirements complements the literature. The findings highlight the cable-driven parallel robot as an optimal trade-off solution.