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Monthly Report for Space Robotic FMS PreCommercialization Development Dec 31, 2018


Added cables to 3rd prototype. Began preliminary testing.


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No change.


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Software Simulation

no change

Breadboard Manufacturing

cables and end fittings testing to 35 lb loads each. Assembly of 3rd prototype completed.

Breadboard Testing

Performance testing has begun, with axial load testing first, for simplest comparison with existing 3rd prototype results.

testing configurations:

Plans for January.

perfomance testing. Investigating if any requirements information for FMS on potential Gateway robotics available.

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