Robotic assembly projects in JAXA Hiroki Kato Daichi Hirano Keisuke Watanabe Daisuke Joudoi Japan Aerospace Exploration Agency (JAXA) Robotic technology for in-space assembly ICRA2019 Workshop @ Montreal 1
Robotic assembly projects in JAXA 1. Assembly in manned space missions (1.1. Monitoring – Int-Ball) 1.2. Manipulation/assembly robot 2. Assembly in large space structure 2.1. Geostationary Precipitation Radar (GPR) 2.2. Space Solar Power System (SSPS) 2
Robotic assembly projects in JAXA 1. Assembly in manned space missions (1.1. Monitoring – Int-Ball) 1.2. Manipulation/assembly robot 2. Assembly in large space structure 2.1. Geostationary Precipitation Radar (GPR) 2.2. Space Solar Power System (SSPS) 3
Manned space missions Lunar Orbital Platform - Gateway Technical (2020s~) demonstration on ISS Development of space robotic technologies Robotic technologies on ground Lunar Exploration (2030s~) Feedback to ground technologies 4
1. Assembly in manned space missions ◼ Chance to develop robotic tech. in ISS/Japanese Experiment Module (JEM) ◼ Astronauts’ task analysis in JEM conducted: – Robotic tech. can helps are classified into 2 groups: Monitoring Manipulation incl. automation with dedicated systems • • Setup cameras Pick and assembly • • Take videos Handle devices • Routine tasks Int-Ball – Manipulation Free-flying robot camera robot 5
1.1. Monitoring – Int-Ball ◼ Goal – Reducing time for astronauts filming (estimated 10% of crew-time) ◼ Launched in June 2017 (ver. 1.0) 6
1.2. Manipulation/assembly robot ◼ Goal – Develop a robot that performs manipulation and assembly tasks instead of astronauts. ◼ Technical issues A) Time delay ✓ Teleoperation is not eligible due to the time delay, which makes it difficult to response quickly to the contacts/frictions with manipulating objects. ✓ Mission specific (On-orbit: 10- sec, Hayabusa: 20x2mins, Mars: 10-15x2mins) B) Difference on environments. – Pre-programmed control methods on ground cannot be used directly because of differences on dynamics under micro-gravity. ◼ Approach 7
Robotic assembly projects in JAXA 1. Assembly in manned space missions 1.1. Monitoring – Int-Ball 1.2. Manipulation/assembly robot 2. Assembly in large space structure 2.1. Geostationary Precipitation Radar (GPR) 2.2. Space Solar Power System (SSPS) 8
2. Assembly in large space structure ⇒ 2.1. GPR ⇐ 2.2. SSPS 9
2.1. Geostationary Precipitation Radar (GPR)/1 ◼ (Goal) to identify – the forming process of a typhoon – to improve the accuracy of weather and flood forecasts ◼ (Approach) observing precipitation continuously and flexibly from a geostationary orbit. 10
2.1. Geostationary Precipitation Radar (GPR) ◼ GPR antenna construction sequence 11
2.1. Geostationary Precipitation Radar (GPR) ◼ Proposing a pre-curser mission, using HTV-X – to demonstrate deployment and connection mechanisms for a large planar antenna. Front Back Lightweight Antenna Panel 12
2.1. Geostationary Precipitation Radar (GPR) ◼ Proposing a pre-curser mission, using HTV-X – Verifying the critical operation of the GPR antenna construction sequence 13
2.1. Geostationary Precipitation Radar (GPR) ◼ Latest Research Topic: – Ground Experiment of Panel Deployment and Connection Mechanisms (Conducted in FY2017) Before deployment of first row During deployment of first row Before deployment of second row After deployment of second row 14
2.2. Space Solar Power System (SSPS) ◼ Converts solar energy into microwave in space and transmits to Earth Panel for generator and microwave transmitter Advanced Model Basic Model Panel for power generator and Primary mirror: 2.5km x 3.5km • • microwave transmitter: Solar panel: diameter 1.25km • 2.5km x 2.4km x 2cm Microwave transmitter: • Total weight: 26,600ton diameter 1.8km • Output power on ground: 1GW Total weight: 10,000ton • • Output power on ground: 1GW • 15
Robotic assembly projects in JAXA 1. Assembly in manned space missions 1.1. Monitoring – Int-Ball 1.2. Manipulation/assembly robot 2. Assembly in large space structure 2.1. Geostationary Precipitation Radar (GPR) 2.2. Space Solar Power System (SSPS) 16
end of presentation Contact: Hiroki Kato kato.hiroki@jaxa.jp 17
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