Robotized Lander for an Analog Mission: Design and Optimization within Experiment Constraints and Objects Integration

Abstract

Surface Avatar ISS Technology Demostrator is a set of experiments that studies the teleoperation of a robotic team to perform complex tasks. This robotic team is composed by the humanoid Rollin´ Justin, Interact Rover, the four-legged Bert, and the robotic Lander, which is the main topic of this thesis. Based on an extensive literature research about real mission and analog missions, which includes Surface Avatar, and using product development methods, this thesis shows the development of a robotic lander, focusing on these functionalities: Sample Stowage Device and its Sample Tubes, the TINA robotic arm integration, the addition of a mechanized Hands-on Tray to provide workspace for object manipulation, and the Cargo Bay area, which might serve as a space for storage and possibly future expansions. This thesis further shows the integration of each of this funcionalities into a framework, and provides insights about the impact of then in the robotic teleoperation, focusing in their manipulation challenges and impact of adding flexibility to the Lander operation.