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Small Space Robots for In-orbit Operations

用于在轨运行的小型空间机器人

基本信息

批准号：
2116510
负责人：
金额：
--
依托单位：
University of Surrey
依托单位国家：
英国
项目类别：
Studentship
财政年份：
2018
资助国家：
英国
起止时间：
2018 至无数据
项目状态：
已结题

来源：
https://gtr.ukri.org/projects?ref=studentship-2116510
关键词：
Small Space Robots orbit Operations

项目摘要

There is an increasing interest to deploy robotic spacecraft for a range of in-orbit operations; including assembly and servicing missions. These involve building large structures, the in-situ repair of functional spacecraft approaching the end of their mission, and the cleaning-up of space debris. Previous technology demonstrations, such as Orbital Express and the Experimental Test Satellite use medium to large robotic spacecraft, and the current trend in the industry is towards building larger robotic spacecraft to handle the ever-growing size of target systems. However, few studies have looked into the feasibility of a low cost, downsized alternative. This project is tailored to look at the utility of a small spacecraft and how two identical systems can dock and reconfigure into a conjoined twin robotic system. The first generation of this small robotic spacecraft will be hereafter referred to as "Twin-Sat". One of the advantages of Twin-Sat is that it will result in creating a more stable and bigger base spacecraft with dual arms for executing heavy duty tasks, therefore increasing its capability. The other advantage is that the conjoined twins would be capable of decoupling themselves into individual spacecraft, allowing them to handle small-scale tasks that require multiple agents.The key objectives of this research are to conduct a system level electro-mechanical design iteration to determine the optimum sizing of the single system as well as to model the dynamic characteristics of two identical, docked space robots; "Twin-Sat". Further to this the dexterity and payload capacity of the robotic arm, with and without in-built compliance will be assessed. This research will also deliver a detailed engineering model of the space robot, control algorithms for Twin-Sat under different operating conditions, and size recommendations based on extensive simulation and experimental validation. This project is partly funded by Surrey Satellite Technology Ltd. (SSTL) and began in October 2018.

人们对部署机器人航天器进行一系列在轨操作越来越感兴趣；包括装配和服务任务。其中包括建造大型结构，在任务即将结束时对功能性航天器进行现场修复，以及清理空间碎片。以前的技术演示，如轨道快车和实验测试卫星使用中型到大型机器人航天器，目前的行业趋势是建造更大的机器人航天器来处理不断增长的目标系统尺寸。然而，很少有研究探讨低成本、小型化替代方案的可行性。该项目旨在研究小型航天器的实用性，以及如何将两个相同的系统对接并重新配置为连体双胞胎机器人系统。这种小型机器人航天器的第一代将被称为“双星”。Twin-Sat的优点之一是，它将创造一个更稳定、更大的双臂基础航天器，用于执行重型任务，从而提高其能力。另一个好处是，连体双胞胎将能够将自己解耦到单独的航天器上，使它们能够处理需要多个代理的小规模任务。本研究的主要目标是进行系统级机电设计迭代，以确定单个系统的最佳尺寸，并对两个相同的对接空间机器人的动态特性进行建模；“Twin-Sat”。此外，将评估机械臂的灵巧性和有效载荷能力，有无内置合规。该研究还将提供空间机器人的详细工程模型，不同操作条件下Twin-Sat的控制算法，以及基于广泛仿真和实验验证的尺寸建议。该项目部分由萨里卫星技术有限公司（SSTL）资助，于2018年10月开始。

项目成果

期刊论文数量（5）

专著数量（0）

科研奖励数量（0）

会议论文数量（0）

专利数量（0）

Towards Autonomous Robotic Systems - 20th Annual Conference, TAROS 2019, London, UK, July 3-5, 2019, Proceedings, Part II

迈向自主机器人系统 - 第 20 届年会，TAROS 2019，英国伦敦，2019 年 7 月 3-5 日，会议记录，第二部分

DOI：
10.1007/978-3-030-25332-5_45
发表时间：
2019
期刊：
影响因子：
0
作者：
Jackson L
通讯作者：
Jackson L

ORCHID: Optimisation of Robotic Control and Hardware In Design using Reinforcement Learning

ORCHID：使用强化学习优化设计中的机器人控制和硬件

DOI：
10.1109/iros51168.2021.9635865
发表时间：
2021
期刊：
影响因子：
0
作者：
Jackson L
通讯作者：
Jackson L

HARL-A: Hardware Agnostic Reinforcement Learning Through Adversarial Selection

DOI：
10.1109/iros51168.2021.9636167
发表时间：
2021-09
期刊：
2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
影响因子：
0
作者：
Lucy Jackson;S. Eckersley;Pete Senior;Simon Hadfield
通讯作者：
Lucy Jackson;S. Eckersley;Pete Senior;Simon Hadfield

Design of a Small Space Robot for On-Orbit Assembly Missions

用于在轨组装任务的小型空间机器人的设计