The Next Step SPACE ROBOTICS INITIATIVE Skyworker-TIM2 12/8/99-1 Skyworker Skyworker Assembly, Inspection, and Maintenance of SSP Assembly, Inspection, and Maintenance of SSP Facilities Facilities Field Robotics Center December 8, 1999 William “Red” Whittaker Peter Staritz Chris Urmson
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The Next Step SPACE ROBOTICS INITIATIVE Skyworker-TIM2 12/8/99-1 Skyworker Assembly, Inspection, and Maintenance of SSP Facilities Field Robotics Center.
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The Next StepSPACE ROBOTICS INITIATIVE
Skyworker-TIM2 12/8/99-1
SkyworkerSkyworkerAssembly, Inspection, and Maintenance of SSP FacilitiesAssembly, Inspection, and Maintenance of SSP Facilities
SkyworkerSkyworkerAssembly, Inspection, and Maintenance of SSP FacilitiesAssembly, Inspection, and Maintenance of SSP Facilities
Field Robotics Center
December 8, 1999
William “Red” WhittakerPeter StaritzChris Urmson
The Next StepSPACE ROBOTICS INITIATIVE
Skyworker-TIM2 12/8/99-2
Space Solar Power Assembly, Space Solar Power Assembly, Inspection, and Maintenance (AIM)Inspection, and Maintenance (AIM)
Space Solar Power Assembly, Space Solar Power Assembly, Inspection, and Maintenance (AIM)Inspection, and Maintenance (AIM)
• Extensive structures – Kilometers in dimension– Millions of parts
• SSP environment– Wide temperature range, sometimes
• Long duration operations– 1 year construction– 30 years operation
The Next StepSPACE ROBOTICS INITIATIVE
Skyworker-TIM2 12/8/99-3
Motivation for a Robotic WorkforceMotivation for a Robotic WorkforceMotivation for a Robotic WorkforceMotivation for a Robotic Workforce
• High, inaccessible orbit
• Overwhelming EVA agenda– Millions of parts– 10’s of Millions of
Manipulations
• Long term operations
• Harsh environment
• Robots are expendable and repairable
• Lower support costs
The Next StepSPACE ROBOTICS INITIATIVE
Skyworker-TIM2 12/8/99-4
Assembly, Inspection, and Assembly, Inspection, and Maintenance TasksMaintenance Tasks
Assembly, Inspection, and Assembly, Inspection, and Maintenance TasksMaintenance Tasks
• 3D agile traversal of a truss structure
• Pick up and place payloads at arbitrary locations and orientations
• Carry payloads while walking, turning, and transitioning planes
• Conduct calibration and inspection tasks
• Connect power and communications cables
• Cooperatively carry bulky, massive payloads
• Perform tasks that require multiple robot collaboration
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The Next StepSPACE ROBOTICS INITIATIVE
Skyworker-TIM2 12/8/99-5
Possible AvenuesPossible AvenuesPossible AvenuesPossible Avenues• Free Flying Systems
– Require expenditure of mass to move– Result in tons of spare fuel– Risky docking operations
• Fixed Manipulators (e.g. shuttle & station)– Anchored to a hard point on the structure– Limited reach– Longer reach results in larger dynamic/reaction forces
• Attached Mobile Manipulators (AMM)– No mass expenditure– “Unlimited” reach– Ability to “walk lightly”– Temporarily attach for working reaction forces