Title :
Skyworker: a robot for assembly, inspection and maintenance of large scale orbital facilities
Author :
Staritz, Peter J. ; Skaff, Sarjoun ; Urmson, Chris ; Whittaker, William
Author_Institution :
Carnegie Mellon Univ., Pittsburgh, PA, USA
Abstract :
Future space facilities that could power our planet and expand our horizons will differ vastly from the satellites and space stations familiar today. Characterized by their immense size and the difficulties of human construction in orbit, future space facilities will be assembled in part by robots. This paper profiles Skyworker, a prototype assembly, inspection, and maintenance (AIM) robot designed for large mass payload transport and assembly tasks. Skyworker is an attached mobile manipulator (AMM) capable of walking and working on the structure it is building.
Keywords :
aerospace robotics; artificial satellites; assembling; inspection; maintenance engineering; manipulators; mobile robots; AIM robot; AMM; Skyworker; Space facilities; Space stations; assembly robot; attached mobile manipulator; in-orbit construction; inspection robot; large-mass payload transport; large-scale orbital facilities; maintenance robot; satellites; Humans; Inspection; Large-scale systems; Orbital robotics; Payloads; Planets; Prototypes; Robotic assembly; Satellites; Space stations;
Conference_Titel :
Robotics and Automation, 2001. Proceedings 2001 ICRA. IEEE International Conference on
Print_ISBN :
0-7803-6576-3
DOI :
10.1109/ROBOT.2001.933271
