File:MECHATRONICS- THE DEVELOPMENT, ANALYSIS, AND GROUND-BASED DEMONSTRATIONS OF ROBOTIC SPACECRAFT HOPPING WITH A MANIPULATOR (IA mechatronicsthed1094561207).pdf
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Summary[edit]
MECHATRONICS: THE DEVELOPMENT, ANALYSIS, AND GROUND-BASED DEMONSTRATIONS OF ROBOTIC SPACECRAFT HOPPING WITH A MANIPULATOR ( ) | ||
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Author |
Komma, Justin L. |
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Title |
MECHATRONICS: THE DEVELOPMENT, ANALYSIS, AND GROUND-BASED DEMONSTRATIONS OF ROBOTIC SPACECRAFT HOPPING WITH A MANIPULATOR |
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Publisher |
Monterey, CA; Naval Postgraduate School |
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Description |
Astrobee is a robot designed by Intelligent Robotics Group at NASA Ames Research Center to operate inside of the International Space Station (ISS). The robot has a manipulator that is made up of various mechanical, electronic, and control systems. The designed purpose of the manipulator is to perch Astrobee in an effort to minimize power consumption. The study of grasping dynamics and hopping will lead to more efficient maneuvers that would not require propellant. Can the current Astrobee manipulator perform a propellantless maneuver by using its manipulator? This thesis reports the construction, design, integration, and testing of a robotic manipulator. A replica model of NASA’s Astrobee manipulator, with 3 degrees of freedom (3-DOF), was constructed at the Spacecraft Research Laboratory (SRL) of Naval Postgraduate School (NPS) using commercial off-the-shelf (COTS) avionics. The control principle of the manipulator was correspondingly developed. Using the Python scripts, the user can easily interact and control the manipulator. Purposely developed test beds enabled to measure the maximum linear force required to remove the manipulator from a perched rail and determine the gripper slip angle of the manipulator from a three-dimensional (3D) printed ISS rail. We found that Astrobee’s manipulator can perform propellantless maneuvers by tossing itself from one ISS rail to another ISS rail. Subjects: spacecraft; robotics; dynamics; multi-body mechanics; manipulators; and mechatronics |
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Language | English | |
Publication date | December 2018 | |
Current location |
IA Collections: navalpostgraduateschoollibrary; fedlink |
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Accession number |
mechatronicsthed1094561207 |
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Source | ||
Permission (Reusing this file) |
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. |
Licensing[edit]
Public domainPublic domainfalsefalse |
This work is in the public domain in the United States because it is a work prepared by an officer or employee of the United States Government as part of that person’s official duties under the terms of Title 17, Chapter 1, Section 105 of the US Code.
Note: This only applies to original works of the Federal Government and not to the work of any individual U.S. state, territory, commonwealth, county, municipality, or any other subdivision. This template also does not apply to postage stamp designs published by the United States Postal Service since 1978. (See § 313.6(C)(1) of Compendium of U.S. Copyright Office Practices). It also does not apply to certain US coins; see The US Mint Terms of Use.
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This file has been identified as being free of known restrictions under copyright law, including all related and neighboring rights. |
https://creativecommons.org/publicdomain/mark/1.0/PDMCreative Commons Public Domain Mark 1.0falsefalse
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current | 20:12, 22 July 2020 | 1,275 × 1,650, 124 pages (12.22 MB) | Fæ (talk | contribs) | FEDLINK - United States Federal Collection mechatronicsthed1094561207 (User talk:Fæ/IA books#Fork8) (batch 1993-2020 #21422) |
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Short title | MECHATRONICS: THE DEVELOPMENT, ANALYSIS, AND GROUND-BASED DEMONSTRATIONS OF ROBOTIC SPACECRAFT HOPPING WITH A MANIPULATOR |
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Image title | |
Author | Komma, Justin L. |
Software used | Komma, Justin L. |
Conversion program | Adobe PDF Library 11.0 |
Encrypted | no |
Page size | 612 x 792 pts (letter) |
Version of PDF format | 1.4 |