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Monthly Report for Space Robotic & Terrestrial FMS PreCommercialization Development April 30 2025

Summary

Continue to review 3rd prototype FMS test data (6 dof). Investigating 2nd means of identifying free flyer payload mass during regular operations. The various eigenvectors/eigenvalue sets differ in their degree of non-linearity.

Specification

No change.

Design

No change.

Analysis

reviewing 'less non-linear modes' to assess their usefullness in mass property determination.

Software Simulation

no change

Breadboard Manufacturing

no change

Breadboard Testing

no new testing

Calibration Test Rig

no change

Plans for May

Continue to investigate existing data, looking into non reviewed modal information. .

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