Overview. Modularity In Space Assembly Robotics

Transcription

1 Building A Solar Power Satellite: Modularity, In Space Assembly, and Robotics Paul Jaffe paul.jaffe@nrl.navy.mil 1

2 Overview Modularity In Space Assembly Robotics 2

3 What is Modularity? Source: webster.com/dictionary/modularity 3

4 What s a Module? Source: webster.com/dictionary/module 4

5 Modularity: Why? Save money by reusing existing designs instead of making new ones Save time by taking advantage of something that has been shown to work Allow competition by different suppliers of the same modular part Allow for mass production benefits 5

6 High Volume Changes the Game Can we achieve 1/10 present capital costs? (Industrial learning curve suggests easily) Can we achieve <$1500 / kg launch costs? (probably much lower at these launch rates) One SPS For 1GW Source: Dr. Marty Hoffert

7 Is low cost space hardware possible? 1000 From: John C. Mankins

8 What is Required for Modularity? Standardized Interfaces 8

9 The Challenge with Standards Source: 9

10 Modular Spacecraft Ideas Have Been Around For A Long Time Source: Edward Falkenhayn Jr., "Multimission modular spacecraft (MMS)," Space Programs and Technologies Conference, Houston,TX, U.S.A. (doi: / ) See also: R. O. Bartlett, F. J. Cepollina, "The Multimission Modular Spacecraft for the 80's," NTRS Report, September

11 SPS ALPHA Modules Source: The Case for Space Solar Power by John Mankins 11

12 AeroAstro Stackable Module Concept Source: Luis G. Jordan, Scott A. McDermott, "Plug and Sense: An Enabling Onboard Networking Technology for Modular Spacecraft," 19th Annual AIAA/USU Conference on Small Satellites,

13 NRL Tile Sandwich Module Source: 14r_sandwich_step module_5430x1807.jpg 13

14 NRL Step Sandwich Module Source: 14r_sandwich_step module_5430x1807.jpg 14

15 Overview Modularity In Space Assembly Robotics 15

16 Options for Uncrewed In Space Assembly Source: Erica Lynn Gralla, "Strategies for Launch and Assembly of Modular Spacecraft," Master's thesis, Gralla EL 2006.pdf 16

17 In Space Assembly: Key to Efficient use of Space Overview: Chart courtesy Dr. Bill Doggett, NASA LaRC Background: Past Assembly Projects (Agent: Robot) Space Station Freedom Objective: Reliable predictable precision assembly of multiple structural forms from common components. Strut Installation Tool 8m [26 feet] diameter 20m [66 feet] linear beam Automatically generated paths Course initial positioning Sensor fusion for accurate alignment: machine vision, contact force, position Simulation and visualization prior to execution. Panel Installation Tool

18 In Space Assembly: Key to Efficient use of Space Overview: Chart courtesy Dr. Bill Doggett, NASA LaRC Efficient Structures: example bending performance Credit: Martin Mikulas Efficient packaging Compact structurally efficient components Structure packages into single shuttle launch. Shuttle shown for scale. Nestable Struts Mass Limited Launch

19 In Space Assembly: Key to Efficient use of Space Overview: Chart courtesy Dr. Bill Doggett, NASA LaRC For In-Space Assembly to be Successful there must be a focus on: Reliability Reliable assembly in space environment. Assembled system performance verification Planned contingency procedures for difficulties or off nominal situations Reliable situation awareness to address difficulties Predictable performance through reliable modeling and simulation Reliable tools to plan spacecraft assembly sequences and operations Efficiency Mass efficient system architectures Efficient use of launch infrastructure Versatile space assembly infrastructure Efficient tools to plan and validate assembly approaches Parallelizable assembly processes

20 Overview Modularity In Space Assembly Robotics 20

21 Robot for Assembling a Solar Power Satellite? Source: 21

22 Skyworker Carnegie Mellon Source: Space_construction_by_Skyworker_robots SPL.jpg Source: skaff_sarjoun_2001_1.pdf 22

23 Japanese Experiment Module Remote Manipulator System (JEM RMS) Source: Source: 23

24 International Space Station Mobile Servicing System (MSS) Source: science.ca/trek/canadarm2/images/mss_diag.gif 24

25 Canadarm 2 Source: 25

26 Dextre Two 3.5 metres (11 ft) arms Body has a latching end effector like that of Canadarm2, allowing it to be attached to Space Station grapple fixtures or the Mobile Base System At the end of the arms are tool changeout mechanisms with built in grasping jaws, a retractable socket drive, a monochrome TV camera, lights, and an umbilical connector that can provide power, data, and video to/from a payload Dextre moves one arm at a time, while one arm may hold onto the station for stability the other is available to perform tasks 15 degrees of freedom Sources:

27 ISS Mobile Transporter Source: 27

28 (from 2010 NASA Satellite Servicing Study) Source: NASA On Orbit Satellite Servicing Study Project Report, October 2010, 28

29 Robotic Servicing of Geostationary Satellites Source: darpas mission to send a repair robot to geosynchronous orbit 29

30 Canadarm2 Source: 30

31 Talisman Source: 31

32 Dragonfly Source: 17/09/11/nasa awards ssl phasefunding dragonfly onorbitassembly program/ Source: 32

33 Conclusion Modularity, In Space Assembly, and Robotics are likely to play roles in the creation of very large space systems, like solar power satellites Exciting projects in these areas are in progress! 33

34 Backup 34

35 Fairchild: MMS (Multi Mission Modular Spacecraft) Source: 1.jpg Source: 35

36 One Size Fits All? Source: Lucy E. Cohan, Richard Duane Chambers, Rachel K. Lee, John E. Keesee, "ANALYSIS OF MODULAR SPACECRAFT BUS DESIGN FOR RAPID RESPONSE MISSIONS," 4th Responsive Space Conference, April 24 27, 2006, Los Angeles, CA 36

37 Concept of Operations Two components are combined to make the complete spacecraft : the bus the payload Launch Segment On Orbit Operations Segment Known, well characterized missions are addressed Pre Position Integration Facility (Depot) Ground Segment Call Up Payload Segment Fixed Control Terminals Mission Operations Users Tactical Terminals Bus Segment Ground Operations Segment

38 AeroAstro Stackable Module Concept Source: 38

39 AeroAstro Stackable Module Concept Source: 39

40 Another Vision of Modular Spacecraft NASA Ames Source: 40

41 Examples of Modular Satellite Concepts PnPSat assembly Novawurks Hisat :47 Arkisys 3:16 Chart source: "Our Decade in Space Plug and play Avionics (SPA)," James Lyke, Quinn Young, Jacob Christensen, & David Anderson 41

42 Chart source: "Our Decade in Space Plug and play Avionics (SPA)," James Lyke, Quinn Young, Jacob Christensen, & David Anderson 42

43 Chart source: "Our Decade in Space Plug and play Avionics (SPA)," James Lyke, Quinn Young, Jacob Christensen, & David Anderson 43

44 Chart source: "Our Decade in Space Plug and play Avionics (SPA)," James Lyke, Quinn Young, Jacob Christensen, & David Anderson 44

45 Chart source: "Our Decade in Space Plug and play Avionics (SPA)," James Lyke, Quinn Young, Jacob Christensen, & David Anderson 45

46 Examples of Modular Satellite Concepts PnPSat assembly Novawurks Hisat :47 Arkisys 3:16 46

47 In Space Assembly: Key to Efficient use of Space Overview: Chart courtesy Dr. Bill Doggett, NASA LaRC Background: Past Assembly Projects Space Station Freedom (precursor to the International Space Station) (Agent: Astronaut) 14 m Precision Segment Reflector Assembly (Agent: Astronaut) 8 m Planar Tetrahedral Structure (Agent: Robot)

48 In Space Assembly: Key to Efficient use of Space Overview: Chart courtesy Dr. Bill Doggett, NASA LaRC Background: Past Assembly Projects (Agent: Astronaut) Primary design considerations for Space Structures are: Low mass Compact packaging Structural predictability Ease/reliability of construction Space Station Freedom SCS 61B Square bay 1985 Space Station Freedom Total Length 145m [476 feet] 5m [16.4 feet] struts Laboratory Testing in Neutral Buoyancy Flight Proven Tech. Telescope Assembly Lesson: High part count On-orbit Complexity

49 Generic Robotic System Block Diagram Source: content/uploads/2014/06/fig1.png 49

50 ISS Robotic Arms xu ISS Arm Overview 3:59 k Canadarm2 and Dextre 50

51 Source: 51

52 Emerging Space Robotics Capabilities TALISMAN video RSGS video NASA 360 Trusselator 52

53 Recommended Reading 2004 Steve Fetter article Space Solar Power: An Idea Whose Time Will Never Come? 2009 Al Globus article In Defense of Space Solar Power 53