Design and Testing of Torveastro: An Outer Space Service Robot
Source abstract
Abstract
Space robots are one of the most promising solutions for on-orbit servicing (OOS) duties like docking, berthing, refueling, re-pairing, upgrading, transporting, rescuing, and orbital trash disposal. Numerous enabling techniques and technological demonstration missions have been developed and completed over the past two decades. There have been several successful manned on-orbit service missions, but unmanned service missions have not yet been conducted. Robotic maintenance continues to be an important area of investigation with numerous technical challenges. This report outlines the design and initial testing of Torveastro, an astronaut service robot. The specifications are provided concurrently with the design and simulation. In comparison with the simulation results, preliminary tests demonstrated promising behavior for future development.
Source: crossref · Quality: baseline
Research context
OpenAlex topics: Space Satellite Systems and Control · Astro and Planetary Science · Planetary Science and Exploration
SciVX discovery tags are terminology-based. OpenAlex topics are source-provided classifications.
Affiliations
LARM^{2}—Laboratory of Robot Mechatronics, University of Rome Tor Vergata, 00133 Rome, Italy
Funding
POR FESR LAZIO 2014–2020
References (22)
Show source-provided references
1. Sullivan, B., and Akin, D. (2001, January 28–30). A survey of serviceable spacecraft failures. Proceedings of the AIAA Space 2001 Conference and Exposition, Albuquerque, NM, USA.
2. The case for robotic on-orbit servicing of spacecraft: Space-craft reliability is a myth10.1016/j.actaastro.2008.01.042 ↗
3. Landis, G., Bailey, S., and Tischler, R. (2006, January 7–12). Causes of power-related satellite failures. Proceedings of the 2006 IEEE 4th World Conference on Photovoltaic Energy Conference, Waikoloa, HI, USA.10.1109/WCPEC.2006.279878 ↗
4. Martin, D. (2000). Communication Satellites, American Institute of Aeronautics & Astronautic.
5. Waltz, D.M., and Cepollina, F. (1993). On-Orbit Servicing of Space Systems, Krieger Publishing Company.
6. Davinic, N., Chappie, S., Arkus, A., and Greenberg, J. (1997, January 6–10). Spacecraft modular architecture design study–cost benefit analysis of on-orbit satellite servicing. Proceedings of the 48th IAF—International Astronautical Congress, Turin, Italy.
7. Leisman, G., Wallen, A., Kramer, S., and Murdock, W. (1999, January 28–30). Analysis and preliminary design of on-orbit servicing architectures for the GPS constellation. Proceedings of the AIAA Space Technology Conference And Exposition.10.2514/6.1999-4425 ↗
8. Space systems flexibility provided by on-orbit servicing: Part 110.2514/2.3844 ↗
9. Space systems flexibility provided by on-orbit ser-vicing: Part 210.2514/2.3845 ↗
10. NASA (2010). On-Orbit Satellite Servicing Study Project Report, Technical Report.
11. A review of space robotics technologies for on-orbit servicing10.1016/j.paerosci.2014.03.002 ↗
12. Robotic assembly and maintenance of future space stations based on the ISS mission operations experience10.1016/j.actaastro.2009.03.064 ↗
13. Hirzinger, G., Landzettel, K., Reintsema, D., Preusche, C., Albu-Schäffer, A., Rebele, B., and Turk, M. (2005). ROKVISS—Robotics component verification on ISS. Artificial Intelligence, Robotics and Automation in Space, Space (iSAIRAS).
14. Diftler, M.A., Mehling, J.S., Abdallah, M.E., Radford, N.A., Bridgwater, L.B., Sanders, A.M., Askew, R.S., Linn, D.M., Yamokoski, J.D., and Permenter, F.A. (2011, January 9–13). Robonaut 2—The first human-oid robot in space. Proceedings of the IEEE International Conference on Robotics and Automation, Shanghai, China.10.1109/ICRA.2011.5979830 ↗
15. Prototype Design and Testing of TORVEastro, Cable-Driven Astronaut Robot
16. Samani, F., and Ceccarelli, M. (2021). An Experimental Characterization of TORVEastro, Cable-Driven Astronaut Robot. Robotics, 10.10.3390/robotics10010021 ↗
17. Design and performance simulation of TORVEastro three-link astronaut robot10.1088/1757-899X/659/1/012010 ↗
18. Modern small satellites-changing the economics of space10.1109/JPROC.2018.2806218 ↗
19. Complex influence of space environment on materials and electronic devices in the conditions of microgravity10.1016/j.asr.2016.05.030 ↗
20. Hirzinger, G., Sporer, N., Schedl, M., Butterfass, J., and Grebenstein, M. (2002, January 3–5). Robotics and mechatronics in aerospace. Proceedings of the 7th International Workshop on Advanced Motion Control. Proceedings (Cat. No. 02TH8623), Maribor, Slovenia.
21. Overview and Prospect of Key Technologies of Teleoperation of Space Robot
22. Uri, J.J., and Cooley, V. (2003, January 8–15). International Space Station—A unique place for research. Proceedings of the 2003 IEEE Aerospace Conference Proceedings (Cat. No. 03TH8652), Big Sky, MT, USA.