Speakers
Description
CAREER is an educational program funded by DLR aimed at student-led research of RVD maneuvers using a robotic test environment. This project consists of two robotic arms (UR10e) that simulate the relative movement and contact dynamics of two satellites.
The satellites are represented by two EndEffectors, one of which being a passive “Target” while the other is an active “Chaser” satellite. The Target is usually designated as a satellite that requires maintenance or assistance in de-orbiting to comply with regulations.
Two types of docking interfaces are implemented: A pair of iSSI interfaces made by the company iBOSS representing a multipurpose interface that enables mechanical, electrical, and data connection, and a Gecko interface that features a damping mechanism ensuring uniform attachment to areas such as solar panels.
Due to the size of both docking interfaces, outer dimensions of at least 4U had to be chosen for the EndEffectors.
The integration of the interfaces into a satellite-like structure is the central objective in the design of the EndEffectors. To lead contact forces directly into the robotic arm and save weight, these are mounted to an aluminum Backplate at each robotic arm’s end. All other panels are made from 3D-printed PLA and host the small navigation sensors.
The challenge in designing the assembly was the trade-off between the accommodation of the interfaces and sensors and setting the EndEffector’s dimensions so that it does neither limit the robotic arm’s freedom of movement nor deviate substantially from a typical form factor. In addition, the two different docking interfaces require the capability to be swiftly interchanged for different RVD scenarios.
The created design satisfies all the main requirements, though it does slightly narrow the number of different poses the robotic arm can reach. This enables students to work on and research GNC-algorithms.
