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Monthly Report for Space Robotic & Terrestrial FMS PreCommercialization Development July 31, 2026

Summary

looking closely at shape differences between loaded and unloaded FRF's in matlab. There are frequency shifts as expected, but data for loaded case is smeared.

Specification

No change.

Design

No change.

Analysis

extracting closely spaced shape information from recently 'found' data. It is clear that the unloaded shapes are clearer than the loaded ones (for axial and rocking force dof's), at least in the low load regime. Back to participation examination to compare loaded and unloaded cases

Software Simulation

No change

Breadboard Manufacturing

No change

Breadboard Testing

Continue processing low load axial force dof data.

Calibration Test Rig

Concept in development for 0-g vs 1-g limited three dof testing

Plans for August

Continue processing 'found' data and characterizing participation factors. These will be important for any AI enhancements.

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