On-Orbit Assembly of Flexible Space Structures with SWARM
On-orbit assembly is an enabling technology for many space applications. However, current methods of human assisted assembly are high in cost and risk to the crew, motivating a desire to automate the on-orbit assembly process using robotic technology. Construction of large space structures will like...
| Main Authors: | , , |
|---|---|
| Other Authors: | |
| Format: | Article |
| Language: | en_US |
| Published: |
American Institute of Aeronautics and Astronautics
2013
|
| Online Access: | http://hdl.handle.net/1721.1/81488 https://orcid.org/0000-0001-6099-0614 |
| _version_ | 1826213896052015104 |
|---|---|
| author | Mohan, Swati Katz, Jacob G. Miller, David W. |
| author2 | Massachusetts Institute of Technology. Department of Aeronautics and Astronautics |
| author_facet | Massachusetts Institute of Technology. Department of Aeronautics and Astronautics Mohan, Swati Katz, Jacob G. Miller, David W. |
| author_sort | Mohan, Swati |
| collection | MIT |
| description | On-orbit assembly is an enabling technology for many space applications. However, current methods of human assisted assembly are high in cost and risk to the crew, motivating a desire to automate the on-orbit assembly process using robotic technology. Construction of large space structures will likely involve the manipulation of flexible elements such as trusses or solar panels, and automation for assembly of flexible structures has significant challenges, particularly in control systems. This paper presents results of ground-based experiments on the assembly of a flexible space structures using the hardware developed under the Self-Assembling Wireless Autonomous Reconfigurable Modules (SWARM) program. Results are shown for a series of incremental tests that demonstrate control of a flexible structure, docking, and reconfiguration after docking. These results demonstrate the feasibility of the assembly of flexible structures using this methodology. |
| first_indexed | 2024-09-23T15:56:33Z |
| format | Article |
| id | mit-1721.1/81488 |
| institution | Massachusetts Institute of Technology |
| language | en_US |
| last_indexed | 2024-09-23T15:56:33Z |
| publishDate | 2013 |
| publisher | American Institute of Aeronautics and Astronautics |
| record_format | dspace |
| spelling | mit-1721.1/814882022-09-29T17:11:00Z On-Orbit Assembly of Flexible Space Structures with SWARM Mohan, Swati Katz, Jacob G. Miller, David W. Massachusetts Institute of Technology. Department of Aeronautics and Astronautics Katz, Jacob G. Miller, David W. Mohan, Swati On-orbit assembly is an enabling technology for many space applications. However, current methods of human assisted assembly are high in cost and risk to the crew, motivating a desire to automate the on-orbit assembly process using robotic technology. Construction of large space structures will likely involve the manipulation of flexible elements such as trusses or solar panels, and automation for assembly of flexible structures has significant challenges, particularly in control systems. This paper presents results of ground-based experiments on the assembly of a flexible space structures using the hardware developed under the Self-Assembling Wireless Autonomous Reconfigurable Modules (SWARM) program. Results are shown for a series of incremental tests that demonstrate control of a flexible structure, docking, and reconfiguration after docking. These results demonstrate the feasibility of the assembly of flexible structures using this methodology. United States. National Aeronautics and Space Administration. Small Business Innovation Program (Contract NNM07AA22C) 2013-10-23T16:50:45Z 2013-10-23T16:50:45Z 2010-04 Article http://purl.org/eprint/type/ConferencePaper 978-1-60086-963-1 http://hdl.handle.net/1721.1/81488 Katz, Jacob, Swati Mohan, and David Miller. “On-Orbit Assembly of Flexible Space Structures with SWARM.” In AIAA Infotech@Aerospace 2010. American Institute of Aeronautics and Astronautics, 2010. https://orcid.org/0000-0001-6099-0614 en_US http://dx.doi.org/10.2514/6.2010-3524 Proceedings of the AIAA Infotech@Aerospace 2010 Creative Commons Attribution-Noncommercial-Share Alike 3.0 http://creativecommons.org/licenses/by-nc-sa/3.0/ application/pdf American Institute of Aeronautics and Astronautics MIT web domain |
| spellingShingle | Mohan, Swati Katz, Jacob G. Miller, David W. On-Orbit Assembly of Flexible Space Structures with SWARM |
| title | On-Orbit Assembly of Flexible Space Structures with SWARM |
| title_full | On-Orbit Assembly of Flexible Space Structures with SWARM |
| title_fullStr | On-Orbit Assembly of Flexible Space Structures with SWARM |
| title_full_unstemmed | On-Orbit Assembly of Flexible Space Structures with SWARM |
| title_short | On-Orbit Assembly of Flexible Space Structures with SWARM |
| title_sort | on orbit assembly of flexible space structures with swarm |
| url | http://hdl.handle.net/1721.1/81488 https://orcid.org/0000-0001-6099-0614 |
| work_keys_str_mv | AT mohanswati onorbitassemblyofflexiblespacestructureswithswarm AT katzjacobg onorbitassemblyofflexiblespacestructureswithswarm AT millerdavidw onorbitassemblyofflexiblespacestructureswithswarm |