Evolved design, integration, and test of a modular, multi-link, spacecraft-based robotic manipulator

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Authors
Drew, Jerry V., II
Subjects
spacecraft
robotics
kinematics
dynamics
multi-body mechanics
Advisors
Romano, Marcello
Date of Issue
2016-06
Date
16-Jun
Publisher
Monterey, California: Naval Postgraduate School
Language
Abstract
This thesis reports on the evolved design, test, and integration of a robotic manipulator consisting of multiple modular links, which enable the reconfiguration of the manipulator system for differing mission requirements without constructing unique hardware for each experimental campaign. The evolved design replaced custom components with commercial components to improve performance, standardize hardware, and reduce assembly time. Additional links were constructed and assembled into a four-link manipulator capable of moving its end-effector without imparting motion to the base spacecraft. Each joint can be controlled independently and provides unique telemetry data via Wi-Fi. A mathematical model of the system was implemented, and the kinematic and dynamic behaviors calibrated, resulting in confirmation of the validity of the modular link manipulator concept. A software code based on this model, the Spacecraft Robotics Toolkit (SPART), was published as an open-source kinematics/dynamics and control framework for use by the spacecraft robotics community. Future research will investigate further upgrades, manipulator control and use in operational scenarios.
Type
Thesis
Description
Series/Report No
Department
Mechanical and Aerospace Engineering
Mechanical and Aerospace Engineering (MAE)
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NPS Report Number
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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.
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