Good Vibrations Engineering Ltd.

Home Contact FMS Virtual Boss HMI Paper Mechanical concept paper

Monthly Report for Space Robotic FMS PreCommercialization Development Aug 31, 2018

Summary

Documented 6 dof testing results for frequency range 500-3000 Hz.

Specification

No change.

Design

No change.

Analysis

Reviewed results and documented them in first draft of technical paper.

Software Simulation

no change

Breadboard Manufacturing

no change; accelerometers on underside of loading plate.

Breadboard Testing

All of simple segment combinations have been tested.

testing configurations:

Plans for September

select target for tech paper and revise to specifications.

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