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Monthly Report for Space Robotic FMS PreCommercialization Development Oct. 31, 2018

Summary

Finished tech paper for submission.

Attended MDA's Oct 12 event re Lunar Gateway robotics project. Corresponded with local MP re support. Brief discussions of need for FMS on Gateway robotics.

Discussions with other SME's re potential collaboration for space projects.

Specification

No change.

Design

No change.

Analysis

no change

Software Simulation

no change

Breadboard Manufacturing

no change; accelerometers on underside of loading plate.

Breadboard Testing

All of simple segment combinations have been tested.

testing configurations:

Plans for November.

Investigate additional means of exciting torsion measurement degree of freedom mode.

Investigate technical requirements for inclusion in Gateway project.

Meet with local MP.

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