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Monthly Report for Space Robotic FMS PreCommercialization Development March 31, 2021

Summary

Begin updating simulation for thermal influences.

Specification

No change.

Design

No change.

Analysis

No change.

Software Simulation

review and update simulation based on sun angle and intensity influence on force error's.

examine thermal influence possibilities for end effector and joint boundary temperatures

Breadboard Manufacturing

no change

Breadboard Testing

no new testing

Plans for April.

Complete thermal review and report. Begin overall debugging of updated sim

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