A New End-effector for On-orbit Assembly of a Large Reflector

Author

Nishida, Shin-Ichiro ; Yoshikawa, Tsuneo

Author_Institution

Inst. of Aerosp. Technol., Japan Aerosp. Exploration Agency, Chofu

fYear

2006

fDate

5-8 Dec. 2006

Firstpage

1

Lastpage

6

Abstract

In Earth orbit, astronomical observations are possible free from any absorption or disturbances by the Earth´s atmosphere. Therefore, some large space telescopes and large space radio telescopes are planned for the future. We discuss the design of a radio telescope reflector which can be assembled in orbit by a space robot arm, with its networks and connecting mechanisms suitable for robot tasks. The characteristics of the new end-effector of robot arm and their suitability for onboard assembly tasks were confirmed by testing using a prototype end-effector and a two dimensional ground test arm. The test results are also described in this paper

Keywords

aerospace robotics; end effectors; force control; radiotelescopes; end effector; force control; on-orbit assembly; radio telescope reflector; space robot arm; space telescope; Earth; Electromagnetic wave absorption; Joining processes; Optical design; Orbital robotics; Radio astronomy; Robotic assembly; Telescopes; Terrestrial atmosphere; Testing; end-effector; force control; space robot;

fLanguage

English

Publisher

ieee

Conference_Titel

Control, Automation, Robotics and Vision, 2006. ICARCV '06. 9th International Conference on

Conference_Location

Singapore

Print_ISBN

1-4244-0341-3

Electronic_ISBN

1-4214-042-1

Type

conf

DOI

10.1109/ICARCV.2006.345414

Filename

4150218