THE DESIGN, OPTIMIZATION, CONSTRUCTION, AND TESTING OF A KINOVA 7DOF ROBOTIC ARM FLOATING VEHICLE

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dc.contributor.advisorHudson, Jennifer
dc.contributor.authorLupo, Katherine J.
dc.contributor.departmentMechanical and Aerospace Engineering (MAE)
dc.contributor.secondreaderRomano, Marcello
dc.date.accessioned2023-08-17T23:08:56Z
dc.date.available2023-08-17T23:08:56Z
dc.date.issued2023-06
dc.description.abstractAs space exploration and technology continue to advance, there is an expanding interest in robotic on-orbit servicing (OOS) to conduct repairs, refueling, or debris removal of damaged spacecraft. The development of OOS relies on ground testing facilities as they simulate the conditions and dynamics of space in a controlled environment, useful for testing and validating new technologies and procedures. Given the significance of both ground testing facilities and the development of OOS technology, this thesis endeavors to design, optimize, and construct a floating spacecraft simulator (FSS) with an attached seven degrees of freedom robotic arm. A CAD model was used to create the final version of the FSS, which incorporated all hardware necessary for the power and subsystem control. This included the onboard computer, reaction wheel, thrusters, air bearings, and the robotic arm. The design was then constructed and an accompanying assembly guide and electronic schematic of the FSS system were formulated. During the functionality trial conducted on one of the NPS Space Robotics Laboratory granite tables, the final product successfully demonstrated its capability to operate the thruster, air bearings, and robotic arm operations.en_US
dc.description.distributionstatementApproved for public release. Distribution is unlimited.en_US
dc.description.serviceEnsign, United States Navyen_US
dc.identifier.curriculumcode591, Space Systems Engineering
dc.identifier.thesisid39037
dc.identifier.urihttps://hdl.handle.net/10945/72215
dc.publisherMonterey, CA; Naval Postgraduate Schoolen_US
dc.rightsThis publication is a work of the U.S. Government as defined in Title 17, United States Code, Section 101. Copyright protection is not available for this work in the United States.en_US
dc.subject.authorfloating vehicleen_US
dc.subject.authoroptimizationen_US
dc.subject.authorconstructionen_US
dc.subject.authorrobotic armen_US
dc.subject.authorCADen_US
dc.subject.author7 degrees of freedomen_US
dc.titleTHE DESIGN, OPTIMIZATION, CONSTRUCTION, AND TESTING OF A KINOVA 7DOF ROBOTIC ARM FLOATING VEHICLEen_US
dc.typeThesisen_US
dspace.entity.typePublication
etd.thesisdegree.disciplineAstronautical Engineeringen_US
etd.thesisdegree.grantorNaval Postgraduate Schoolen_US
etd.thesisdegree.levelMastersen_US
etd.thesisdegree.nameMaster of Science in Astronautical Engineeringen_US
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