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

Summary

using sim to graph max load levels for each dof to test to, based on early strut tests, for existing prototype

Specification

No change.

Design

No change.

Analysis

no change

Software Simulation

adding graph to show allowable load levels for non-swagged strut fittings

Breadboard Manufacturing

no change

Breadboard Testing

no new testing

Calibration Test Rig

no change

Plans for May

Show frequency vs applied load levels that current 3rd prototype (space robotic version) can withstand, for each of the 6 degrees of freedom. The maximum strut load was tested to 35 lb.

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