RO ROBOTIC TECHNOLOGY FO FOR IN-SP SPACE ASSE ASSEMB MBLY - PowerPoint PPT Presentation

International Conference on Robots and Automation Montréal, Québec, May 23, 2019 WO WORKSHOP: 13:30-17 17:30 RO ROBOTIC TECHNOLOGY FO FOR IN-SP SPACE ASSE ASSEMB MBLY ORGANIZED BY: Craig Carignan University of Maryland, USA Kazuya Yoshida Tohoku University, Japan Giacomo Marani West Virginia University, USA http://hq.wvrtc.com/icra2019

Previous Workshops • ICRA 2012: “Robotic Satellite Servicing,” St. Paul, Minnesota • ICRA 2015: “The Next Generation of Space Robotic Servicing Technologies,” Seattle, Washington • IROS 2017: “Gravity Offload Testbeds for Space Robotic Mission Simulation,” Vancouver, BC Next workshop should be on robotic in-space assembly ICRA 2019 Robotic ISA Workshop Introduction/Carignan 2

EASE/ACCESS Mission (1985) The concept of large space structure assembly is not new EASE ACCESS https://en.wikipedia.org/wiki/EASE/ACCESS ICRA 2019 Robotic ISA Workshop Introduction/Carignan 3

In-Space Assembly (ISA) Applications • Space Stations Key drivers in 1980s • Solar Power Satellites • Space Telescopes • Commercial Platforms • Space Transportation Hubs “Humanity’s biggest • Satellite Servicing Depots machines will be • Communications Antennae built in space” ICRA 2019 Robotic ISA Workshop Introduction/Carignan 4

Largest Human-Made Structure In Space Building the complete station required more than 40 assembly flights. ICRA 2019 Robotic ISA Workshop Introduction/Carignan 5

Large Space Telescopes THE SEARCH FOR ALIENS MAY DEPEND ON IN-SPACE ASSEMBLY … JWST Telescope ICRA 2019 Robotic ISA Workshop Introduction/Carignan 6

Service Stations and Transportation Hubs ICRA 2019 Robotic ISA Workshop Introduction/Carignan 7

Assembly Techniques Archinaut Ulisses Beam Assembly Teleoperator (BAT) 2020s 1980s ICRA 2019 Robotic ISA Workshop Introduction/Carignan 8

Rigid Lattices vs. Flexible Membranes ICRA 2019 Robotic ISA Workshop Introduction/Carignan 9

Fixed vs. Mobile-Based Robots ICRA 2019 Robotic ISA Workshop Introduction/Carignan 10

Objectives for This Workshop • Review emerging technologies for robotic in-space assembly • Share research and ideas to better understand what techniques work best for given applications • Identify new technologies that will enable more efficient assembly of large structures in space ICRA 2019 Robotic ISA Workshop Introduction/Carignan 11

Questions to think about How do we do ground testing of large space structure assembly on the ground? What could you do with a robot servicer testbed in space to test construction and assembly? What should be the first major test of assembly of a large space structure? How can we form international partnerships (government, industry, academia) to push robot technology for ISA forward? ICRA 2019 Robotic ISA Workshop Introduction/Carignan 12

Schedule 1:30 Introduction 1:40 Session 1 Presentations (4) 3:00 Coffee Break & Poster Session 3:40 Session 2 Presentations (5) 5:20 Discussion (Town Hall) Adjourn ICRA 2019 Robotic ISA Workshop Introduction/Carignan 13

Session 1 Presentations 1:40 Brian Roberts, NASA Goddard Space Flight Center Applying Robotic Satellite Servicing Technologies to On-Orbit Servicing, Assembly, and Manufacturing (OSAM) 2:00 Mini Saaj, Surrey Space Center Small Space Robots for in-Space Assembly 2:20 Maximo Roa, German Aerospace Center (DLR) From Ground to space-based robotic assembly 2:40 Daniel Rey & Richard Rembala, Canadian Space Agency & MDA, Inc. Robotic In-Space Assembly – Canada’s Flight Experience, Plans and Challenges 3:00 – 3:40 Coffee & Poster Session ICRA 2019 Robotic ISA Workshop Introduction/Carignan 14

Session 2 Presentations 3:40 Hiroki Kato, Japan Aerospace Exploration Agency (JAXA) Robotic assembly projects in JAXA 4:00 Steve Ulrich, Carleton University Development and Experimental Evaluation of Advanced Robotics Technologies Enabling On-Orbit Assembly 4:20 Nathan Britton, Tethers Unlimited Inc. KRAKEN - Compliant Manipulator for Small Spacecraft 4:40 Glen Henshaw, U.S. Naval Research Laboratory Is the Fault in Ourselves? Or in our Stars? Being an historical perspective on the challenges in flying space robotics mission, and what we can do about them 5:00 Bill Doggett, NASA Langley Research Center Modular Assembly: An Efficient Approach for Creation and Maintenance of Persistent Space Assets ICRA 2019 Robotic ISA Workshop Introduction/Carignan 15

Opportunity for Publication Thanks for helping to promote our workshop! https://www.frontiersin.org/journals/all/sections/space-robotics Is seeking papers in robotics for in-space assembly for special issue. ICRA 2019 Robotic ISA Workshop Introduction/Carignan 16