The Design, Optimization, Construction, and Testing of a Kinova 7DoF Robotic Arm Floating Vehicle
Abstract
As space exploration and technology continue to advance, there is an expanding interest in robotic on-orbit servicing (OOS) to conduct repairs, refueling, or debris removal of damaged spacecraft. The development of OOS relies on ground testing facilities as they simulate the conditions and dynamics of space in a controlled environment, useful for testing and validating new technologies and procedures. Given the significance of both ground testing facilities and the development of OOS technology, this thesis endeavors to design, optimize, and construct a floating spacecraft simulator (FSS) with an attached seven degrees of freedom robotic arm. A CAD model was used to create the final version of the FSS, which incorporated all hardware necessary for the power and subsystem control. This included the onboard computer, reaction wheel, thrusters, air bearings, and the robotic arm. The design was then constructed and an accompanying assembly guide and electronic schematic of the FSS system were formulated. During the functionality trial conducted on one of the NPS Space Robotics Laboratory granite tables, the final product successfully demonstrated its capability to operate the thruster, air bearings, and robotic arm operations.
Document Details
- Document Type
- Technical Report
- Publication Date
- Jun 01, 2023
- Accession Number
- AD1213550
Entities
People
- Katherine J. Lupo
Organizations
- Naval Postgraduate School