DESIGN, TESTING, AND ANALYSIS OF SELF-TOSS HOPPING MANEUVERS OF ASTROBEE AT NPS AND NASA AMES RESEARCH CENTER
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Authors
Safbom, Conor P.
Subjects
Astrobee
ISS
robotics
space
NASA
astronautics
International Space Station
hopping maneuver
dynamics
multibody robotic system
autonomy
zero gravity
Python
Raspberry Pi
engineering
aerospace
modeling
calibration
free-flyer
Spacecraft Robotics Laboratory
SRL
POSEIDYN
NASA Ames
ISS
robotics
space
NASA
astronautics
International Space Station
hopping maneuver
dynamics
multibody robotic system
autonomy
zero gravity
Python
Raspberry Pi
engineering
aerospace
modeling
calibration
free-flyer
Spacecraft Robotics Laboratory
SRL
POSEIDYN
NASA Ames
Advisors
Romano, Marcello
Kwok Choon, Stephen, National Research Council
Date of Issue
2020-06
Date
Publisher
Monterey, CA; Naval Postgraduate School
Language
Abstract
Robotic hopping is a novel approach to microgravity mobility for a small spacecraft to use a robotic arm manipulator to toss a vehicle toward a destination. The Spacecraft Robotics Laboratory (SRL) at the Naval Postgraduate School (NPS) has demonstrated the viability of this mobility approach on its microgravity research testbed, POSEIDYN. SRL shall attempt this mobility approach with NASA’s Astrobee free-flyer, a small robotic research platform designed to operate in microgravity, onboard the International Space Station. In preparation for this experimental campaign, self-toss maneuvers were tested at both NPS and at NASA Ames Research Center. These maneuvers were performed using Astrobee’s existing perching arm, and a variety of initial and end angles were tested for both the distal and proximal joints of the arm. This thesis analyzed these results and presented the path ahead for SRL’s research with Astrobee.
Type
Thesis
Description
Series/Report No
Department
Mechanical and Aerospace Engineering (MAE)
Organization
Identifiers
NPS Report Number
Sponsors
Funder
Format
Citation
Distribution Statement
Approved for public release. distribution is unlimited
Rights
This 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.