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Monthly Report for Space Robotic FMS PreCommercialization Development May 31, 2021


Debugging of simulation and summary report in progress. Thermal influence calculations be re-examined, because they seem to overstate thermal error, as noted in earlier prototype development testing.


No change.


No change.


No change.

Software Simulation

located and reviewed previous and current thermal simulations

thermal influence on modal frequencies used to predict force error levels

a more detailed FE model being implemented to assess thermal distorsions. The issue of housing flexibility is the focus.

Breadboard Manufacturing

no change

Breadboard Testing

no new testing

Plans for June.

Complete debugging and summary simulation report.

What's so tough?

Temperature Lack of atmosphere drives temperatures to be either hot in sun or cold in shade. Robots are for moving things around, so they go into and out of shade repeatedly.

Force not directly measureable. It can be inferred from strain or deflection. Such measures are affected by thermal distorsion.

Large dynamic range linear vs rotation forces. Long robot arms and the need to capture 'free flyers' generates large rotational forces.

High Stiffness A high stiffness requirement, makes measurement of strain or deflection more difficult to isolate from thermal distorsion.

Drift Space operations tend to be slow - often taken over a period of hours.

6 dof It is important to distinguish all 6 degrees of force measurement, but the shear and moment loading cases can produce difficult to distinguish effects