Robotics Technology Development to Enable Manned, Planetary Exploration
No abstract available
Berka, Reginald B.↗
Engineering topics
Berka, Reginald B.
Publications and source records attributed to Berka, Reginald B..
Robonaut 2 on the International Space Station: Status Update and Preparations for IVA Mobility
Robotics engineers, ground controllers and International Space Station (ISS) crew have been running successful experiments using Robonaut 2 (R2) on-board the ISS for more than a year. This humanoid upper body robot continues to expand its list of achievements and its capabilities to safely demonstrate maintenance and servicing tasks while working alongside human crewmembers. The next phase of the ISS R2 project will transition from a stationary Intra Vehicular Activity (IVA) upper body using a power/data umbilical, to an IVA mobile system with legs for repositioning, a battery backpack power supply, and wireless communications. These upgrades will enable the R2 team to evaluate hardware performance and to develop additional control algorithms and control verification techniques with R2 inside the ISS in preparation for the Extra Vehicular Activity (EVA) phase of R2 operations. As R2 becomes more capable in assisting with maintenance tasks, with minimal supervision, including repositioning itself to different work sites, the ISS crew will be burdened with fewer maintenance chores, leaving them more time to conduct other activities. R2's developers at the Johnson Space Center (JSC) are preparing the R2 IVA mobility hardware and software upgrades for delivery to the ISS in late 2013. This paper summarizes R2 ISS achievements to date, briefly describes the R2 IVA mobility upgrades, and discusses the R2 IVA mobility objectives and plans.
Ahlstrom, Thomas D.↗
Heavy-lift vehicle-launched Space Station method and apparatus
Methods and apparatus are provided for a single heavy-lift launch to place a complete, operational space station on-orbit. A payload including the space station takes the place of a shuttle orbiter using the launch vehicle of the shuttle orbiter. The payload includes a forward shroud, a core module, a propulsion module, and a transition module between the core module and the propulsion module. The essential subsystems are preintegrated and verified on Earth. The core module provides means for attaching international modules with minimum impact to the overall design. The space station includes six control moment gyros for selectably operating in either LVLH (local-vertical local-horizontal) or SI (solar inertial) flight modes.
Wade, Donald C.↗
Dexterous Orbital Servicing System (DOSS)
The Dexterous Orbiter Servicing System (DOSS) is a dexterous robotic spaceflight system that is based on the manipulator designed as part of the Flight Telerobotics Servicer program for the Space Station Freedom and built during a 'technology capture' effort that was commissioned when the FTS was cancelled from the Space Station Freedom program. The FTS technology capture effort yielded one flight manipulator and the 1 g hydraulic simulator that had been designed as an integrated test tool and crew trainer. The DOSS concept was developed to satisfy needs of the telerobotics research community, the space shuttle, and the space station. As a flight testbed, DOSS would serve as a baseline reference for testing the performance of advanced telerobotics and intelligent robotics components. For shuttle, the DOSS, configured as a movable dexterous tool, would be used to provide operational flexibility for payload operations and contingency operations. As a risk mitigation flight demonstration, the DOSS would serve the International Space Station to characterize the end to end system performance of the Special Purpose Dexterous Manipulator performing assembly and maintenance tasks with actual ISSA orbital replacement units. Currently, the most likely entrance of the DOSS into spaceflight is a risk mitigation flight experiment for the International Space Station.
Price, Charles R.↗
Heavy-lift vehicle-launched Space Station method and apparatus
Methods and apparatus are provided for a single heavylift launch to place a complete, operational space station on-orbit. A payload including the space station takes the place of a Shuttle Orbiter using the launch vehicle of the Shuttle Orbiter. The payload includes a forward shroud, a core module, a propulsion module, and a transition module between the core module and the propulsion module. The essential subsystems are pre-integrated and verified on Earth. The core module provides means for attaching international modules with minimum impact to the overall design. The space station includes six control moment gyros for selectably operating in either LVLH (local-vertical local-horizontal) or SI (solar inertial) flight modes.
Wade, Donald C.↗
JSC flight experiment recommendation in support of Space Station robotic operations
The man-tended configuration (MTC) of Space Station Freedom (SSF) provides a unique opportunity to move robotic systems from the laboratory into the mainstream space program. Restricted crew access due to the Shuttle's flight rate, as well as constrained on-orbit stay time, reduces the productivity of a facility dependent on astronauts to perform useful work. A natural tendency toward robotics to perform maintenance and routine tasks will be seen in efforts to increase SSF usefulness. This tendency will provide the foothold for deploying space robots. This paper outlines a flight experiment that will capitalize on the investment in robotic technology made by NASA over the past ten years. The flight experiment described herein provides the technology demonstration necessary for taking advantage of the expected opportunity at MTC. As a context to this flight experiment, a broader view of the strategy developed at the JSC is required. The JSC is building toward MTC by developing a ground-based SSF emulation funded jointly by internal funds, NASA/Code R, and NASA/Code M. The purpose of this ground-based Station is to provide a platform whereby technology originally developed at JPL, LaRC, and GSFC can be integrated into a near flight-like condition. For instance, the Automated Robotic Maintenance of Space Station (ARMSS) project integrates flat targets, surface inspection, and other JPL technologies into a Station analogy for evaluation. Also, ARMSS provides the experimental platform for the Capaciflector from GSPC to be evaluated for its usefulness in performing ORU change out or other tasks where proximity detection is required. The use and enhancement of these ground-based SSF models are planned for use through FY-93. The experimental data gathered from tests in these facilities will provide the basis for the technology content of the proposed flight experiment.
Berka, Reginald B.↗
Development of a large space robot - A multi-segment approach. I
A concept of multisegment robot (of a class of large space cranes) is developed for use in space-based construction operations. The robot consists of a collection of segments, which are pinned together to form a snakelike configuration, with a single degree of freedom representing rotation being retained at each pinned connection and with reaction flywheels suspended within each segment for the control necessary to position each body segment. Algorithms are developed for positioning this serpentine robot to a prescribed location and orientation. A multibody dynamics simulation is used to investigate the behavior and interactions of the robot, demonstrating its viability.
Spanos, P. D.↗
Development of a large space robot - A multi-segment approach. II
The paper explores typical robot design issues related to the multisegment robot concept developed by Spanos and Berka (1993) for space-based construction operations. Attention is given to the design, fabrication, and tests of a prototype multisegment robot. Experimental results of motion tests are presented and compared with analytical predictions, showing good agreement.
Berka, Reginald B.↗
Segmented Arm For Positioning And Assembly
Proposed segmented robotic arm for positioning and assembly of components of large structures contains motor-and-flywheel angular-momentum devices in each arm segment. Transfers angular momentum to and from segments of arm to produce desired motion of arm. Conceived for use in outer space, concept adaptable to terrestrial uses in which buoyancy cancels effect of gravitation - (floating on or under water).
Berka, Reginald B.↗