Good Vibrations Engineering Ltd.

Home Contact FMS Virtual Boss HMI Paper Test Results: Off axis excitation capability Mechanical concept paper

Monthly Report for Space Robotic & Terrestrial FMS PreCommercialization Development November 30, 2024

Summary

Comparing information of 2nd and 3rd prototypes, looking for mode splitting and other irregularities.

Specification

No change.

Design

No change.

Analysis

no change

Software Simulation

no change

Breadboard Manufacturing

no change

Breadboard Testing

no new testing

Calibration Test Rig

no change

Plans for December

Continue to review old data for feasibililty of mass property extraction, focus on modes not utiized in sim.

Non-linear Force Algorithm Schedule - Space Version

Calibration Test Rig Schedule - Space Version

Breadboard Unit Schedule - Space Version

Simulator Schedule - Space Version

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