Session
Session I: Year In Review
Location
Utah State University, Logan, UT
Abstract
Technological advancements in robotics and additive manufacturing have accelerated the on-orbit capabilities of space vehicles. These advancements, combined with the surge in satellite constellations and the harsh space environment, motivated innovative approaches for sustaining space assets using other space vehicles, including on-orbit servicing, removal, and manufacturing. On-orbit servicing enables maintenance, repairs, and upgrades to existing satellites, decelerating the accumulation of space debris and offering a cost-effective alternative to traditional satellite replacement. On-orbit removal (relocation or collection) of defunct spacecraft from orbital graveyards declutters space real estate for future space infrastructure and human spaceflight. On-orbit manufacturing reduces launch costs and facilitates the construction of large-scale structures. To demonstrate the feasibility of on-orbit capabilities by small-scale robotic satellites, the United States Naval Academy developed RSat, a 3U CubeSat-class satellite equipped with two additively-manufactured 60 cm robotic arms. Each robotic arm had six degrees of freedom and outfitted with a camera at each end-effector. RSat tested complex, modular robotic technology on orbit as a science payload on the International Space Station. On-orbit robotic arm operation sequences included initial deployment and system check-out, target diagnostics, target identification, target manipulation, and two-arm coordinated maneuvers. The paper outlines RSat key design features and also focuses on remote robotic arm operation on orbit including key observations and lessons learned.
Results From On-Orbit Operation of CubeSat-Scale Robotic Arms on the International Space Station
Utah State University, Logan, UT
Technological advancements in robotics and additive manufacturing have accelerated the on-orbit capabilities of space vehicles. These advancements, combined with the surge in satellite constellations and the harsh space environment, motivated innovative approaches for sustaining space assets using other space vehicles, including on-orbit servicing, removal, and manufacturing. On-orbit servicing enables maintenance, repairs, and upgrades to existing satellites, decelerating the accumulation of space debris and offering a cost-effective alternative to traditional satellite replacement. On-orbit removal (relocation or collection) of defunct spacecraft from orbital graveyards declutters space real estate for future space infrastructure and human spaceflight. On-orbit manufacturing reduces launch costs and facilitates the construction of large-scale structures. To demonstrate the feasibility of on-orbit capabilities by small-scale robotic satellites, the United States Naval Academy developed RSat, a 3U CubeSat-class satellite equipped with two additively-manufactured 60 cm robotic arms. Each robotic arm had six degrees of freedom and outfitted with a camera at each end-effector. RSat tested complex, modular robotic technology on orbit as a science payload on the International Space Station. On-orbit robotic arm operation sequences included initial deployment and system check-out, target diagnostics, target identification, target manipulation, and two-arm coordinated maneuvers. The paper outlines RSat key design features and also focuses on remote robotic arm operation on orbit including key observations and lessons learned.
