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Monthly Report for Space Robotic FMS PreCommercialization Development August 31, 2017


Continuing to identify modes generated in 3300 to 6500 Hz range, with emphasis to picking 'best' excitation.

Preparing response to CSA's request for information re NASA proposed cis-lunar station concept. Have contacted MD Robotics to to determine if they have any interest.


No change.


No change.


No change.

Software Simulation

no change

Breadboard Manufacturing

We continue to delay disassembling structure, to identify higher frequency modes.

Breadboard Testing

This months effort has been towards identifying 'best' optimization configuration for particular frequency response at individual accelerometer locations. The visualization techniques to achieve this are improving, but it is still difficult to distinguish closely spaced modes.

Plans for September.

Continue working on 'best' excitation segments. Begin exciting different drive segment combinations.

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