User needs, benefits and integration of united robotic systems in a space station laboratoryThe methodology, results and conclusions of the User Needs, Benefits, and Integration Study (UNBIS) of Robotic Systems in the Space Station Microgravity and Materials Processing Facility are summarized. Study goals include the determination of user requirements for robotics within the Space Station, United States Laboratory. Three experiments were selected to determine user needs and to allow detailed investigation of microgravity requirements. A NASTRAN analysis of Space Station response to robotic disturbances, and acceleration measurement of a standard industrial robot (Intelledex Model 660) resulted in selection of two ranges of low gravity manipulation: Level 1 (10-3 to 10-5 G at greater than 1 Hz.) and Level 2 (less than = 10-6 G at 0.1 Hz). This included an evaluation of microstepping methods for controlling stepper motors and concluded that an industrial robot actuator can perform milli-G motion without modification. Relative merits of end-effectors and manipulators were studied in order to determine their ability to perform a range of tasks related to the three low gravity experiments. An Effectivity Rating was established for evaluating these robotic system capabilities. Preliminary interface requirements were determined such that definition of requirements for an orbital flight demonstration experiment may be established.
Document ID
Acquisition Source
Legacy CDMS
Document Type
Contractor Report (CR)
AuthorsFarnell, K. E.
(Teledyne Brown Engineering Huntsville, AL, United States)Richard, J. A.
(Teledyne Brown Engineering Huntsville, AL, United States)Ploge, E.
(Teledyne Brown Engineering Huntsville, AL, United States)Badgley, M. B.
(Teledyne Brown Engineering Huntsville, AL, United States)Konkel, C. R.
(Teledyne Brown Engineering Huntsville, AL, United States)Dodd, W. R.
(Teledyne Brown Engineering Huntsville, AL, United States)
Date Acquired
September 5, 2013
Publication Date
January 1, 1989
Subject CategoryMechanical Engineering
Report/Patent NumberNAS 1.26:182261TBE-SSD-P601-89-40NASA-CR-182261Report Number: NAS 1.26:182261Report Number: TBE-SSD-P601-89-40Report Number: NASA-CR-182261
Accession Number
89N22108
Funding Number(s)CONTRACT_GRANT: NAS3-25278
PROJECT: RTOP 694-03-03
Public
Copyright
Work of the US Gov. Public Use Permitted.
1.844.SEAWALL