Low-Profile Manipulator Interface System for Spacecraft
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Solution Overview
Problem
Existing robotic systems in space operations face challenges in efficiently moving and securing robotic arms due to the integration of force-moment sensing apparatus within the primary load path, which complicates delicate mating and manipulation of payloads, and increases mass and complexity.
Innovation Solution
A low-mass system with a passive interface assembly on the spacecraft and payloads, and an active interface assembly on the robotic arm, where force and moment sensors are positioned outside the structural load path, allowing for independent movement and secure attachment of the robotic arm to various locations and payloads without adding complexity or mass.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If force-moment sensing apparatus is integrated within the primary manipulator load path, then force sensing capability is achieved, but device complexity and mass increase
Solution Approach 1:
The system divides the sensing function into a separate force-moment sensing apparatus that operates independently from the primary load path. The sensing apparatus includes its own load cells and signal conditioning circuitry, allowing force measurement without being integrated into the structural load-bearing components of the manipulator.
Solution Approach 2:
The force-moment sensing apparatus acts as an intermediary system between the manipulator and the control system. It provides force feedback through dedicated sensors and signal processing equipment, enabling control without requiring the primary structural components to perform both load-bearing and sensing functions.
2Measurement precision
If force-moment sensing apparatus is integrated within the primary manipulator load path, then force sensing capability is achieved, but mass increases
Solution Approach 1:
The sensing system is segmented from the primary manipulator structure, using separate load cells and sensing components that can be independently optimized for mass efficiency. This allows the use of lightweight sensing elements rather than requiring the entire load path to be instrumented.
Solution Approach 2:
The system replaces traditional mechanical strain gauge integration within load-bearing structures with separate force-moment sensing apparatus that uses electrical sensors and signal processing. This substitution reduces the need for additional mechanical reinforcement and associated mass.
3Measurement precision
If force-moment sensing apparatus is integrated within the primary manipulator load path, then force sensing capability is achieved, but reliability decreases due to complexity
Solution Approach 1:
By segmenting the sensing function from the primary load path, the system isolates potential failure modes. The force-moment sensing apparatus can be independently tested, calibrated, and maintained without affecting the structural integrity or operation of the manipulator itself.
Solution Approach 2:
The separate force-moment sensing apparatus serves as an intermediary that provides force feedback without being part of the critical load path. This isolation means that sensor failures or calibration issues do not compromise the structural reliability of the manipulator, and the sensing system can be replaced or repaired independently.
Data Source
AI summary
The present disclosure relates to a low mass system for releasably securing a robotic arm to a spacecraft and also securing various payloads to the robotic arm and to each other, permitting the robotic arm to be both moved from one location to another suitably equipped location on a spacecraft to another and to allow the free end of the robotic arm to be secured to any payload also similarly equipped such that this payload may be manipulated by the robotic arm.