In-Space Robotic Assembly Joint Characterization Approach
This paper describes the test systems and approaches developed to characterize the performance of a structural joint that is intended for robotic in-space assembly (ISA). The design of the joint is based on a heritage concept from National Aeronautics and Space Administration (NASA) Langley Research Center (LaRC) originally intended for structural assembly by astronauts during extravehicular activity (EVA). Its design was modified under a public-private partnership and is intended to accelerate the availability of, and reduce costs for the infusion of NASA developed technologies into commercial ISA systems. Test systems were developed to measure the axial, bending, and torsional stiffness of the joint at a wide range of temperatures. A test system was also developed to measure the reliability of the joint in terms of translation and rotation when disassembled and re-assembled in space. These test systems were used to characterize the joint behavior and provide performance data for the iterative joint design process. The paper also lists the lessons learned to aid testing of next generation robotic in-space assembly joints.