Publikation
Concepts of active payload modules and end-effectors suitable for Standard Interface for Robotic Manipulation of Payloads in Future Space Missions (SIROM) interface
Marko Jankovic; Wiebke Brinkmann; Sebastian Bartsch; Roberto Palazzetti; Xiu Yan
In: Proceedings of the 2018 IEEE Aerospace Conference. IEEE Aerospace Conference, March 3-10, Big Sky, Montana, USA, IEEE, 2018.
Zusammenfassung
The increasing variety of space missions, combined
with their increasing complexity and need for more
environmentally-friendly, yet cost-effective, solutions is putting
the traditional spacecraft and rover designs to the test. In fact,
the majority of present-day spacecraft and planetary rovers
are mostly monolithic, one-of-a-kind, single-use systems, hardly
offering any possibility of their future servicing, upgrade or
re-use. The H2020 EU-funded project SIROM (Standard Interface
for Robotic Manipulation of Payloads in Future Space
Missions), aims to bridge this gap by developing an integrated
and inherently optimized multi-functional standard interface
for mechanical, data, electrical and thermal connectivity. The
interface, in combination with a custom end-effector and active
payload modules (APMs) will allow a design of modular and reconfigurable
systems that could be serviced and upgraded easier
than they are now via a dedicated in-orbit or planetary robotic
system. With respect to the existing state-of-the-art, the interface
and modules in SIROM are being developed considering
the need for scalability, reusability, compatibility with robotic
manipulation and suitability for both in-orbit and planetary
environments. Within this context, this paper aims at analyzing
the feasibility of APM and end-effector concepts within the
system requirements of the project in order to identify the most
suitable baseline concepts for the preliminary design of APMs
and end-effector. The analysis is performed in terms of functionalities
and architecture, and in case of APMs considers a remote
sensing and power storage system as payloads for orbital and
planetary scenarios, respectively. The methodology used for the
evaluation and selection of APM concepts and end-effectors is a
top-down methodology generally used for the design and sizing
of payloads of space missions. It consists of: (a) a definition of
payload objectives and its desired capabilities, (b) identification
of candidates, (c) estimation of their characteristics based on
analogy, scaling or component budgeting, (d) evaluation and
selection of a baseline. Moreover, in case of end-effector analysis
its possible interactions and configurations with APM concepts
were also taken into consideration. The results of the analysis
point out the feasibility of APM and end-effector concepts within
the system requirements of the project and outline baseline
concepts that could be used in future steps of the project as a
guideline in the detailed design of the reference implementation
of APMs and end-effector.