Abstract
A currently relevant topic is the development of on-orbit servicing missions designed to repair, refuel or deorbit non-co-operative spacecraft. For this purpose, it is possible to use space robotic systems composed of a main platform and one or more robotic arms. In this paper, the capacity of a dual-arm robotic system to manipulate and to deorbit a generic target will be analyzed. For this purpose, a mixed Kane–Newton multi-body model will be implemented; this model will allow to switch automatically from an open-chain configuration (target captured via a single robotic arm) to a closed-chain configuration (target captured via both robotic arms) and vice versa. The flexibility of the joints of the system and the flexibility of the components of the robotic arms will be considered in the model. The system will be properly sized to operate the deorbiting of the target. Under the hypothesis of planar motion, numerical results will be presented to validate the model and to demonstrate the correct sizing of the system.
Highlights
The presence of disused satellites and other artificial debris in orbits of scientific and commercial interest, such as LEOs and GEOs, is a more than ever relevant threat to future space missions [1]
In [6], many possible technologies for active debris removal (ADR) tasks are analyzed; the most promising one involves the use of robotic space manipulators (RSM) composed of a main platform and one or more robotic arms
The paper is organized as follows: in Sect. 2, a general RSM will be defined from a kinematic and from a dynamic point of view, in Sect. 3, control strategies for the main platform and for the robotic arms will be presented, in Sect. 4, the RSM of interest and the different phases of the mission will be introduced, while in Sect. 5, numerical results, obtained through in-house codes developed in Matlab, will be showed and described
Summary
The presence of disused satellites and other artificial debris in orbits of scientific and commercial interest, such as LEOs and GEOs, is a more than ever relevant threat to future space missions [1] Possible solutions to such an issue consist in capturing these orbiting objects with the scope to repair, refuel or deorbit them. In [6], many possible technologies for active debris removal (ADR) tasks are analyzed; the most promising one involves the use of robotic space manipulators (RSM) composed of a main platform and one or more robotic arms. Literature about these issues is very broad and several multi-disciplinary aspects are. The paper is organized as follows: in Sect. 2, a general RSM will be defined from a kinematic and from a dynamic point of view, in Sect. 3, control strategies for the main platform and for the robotic arms will be presented, in Sect. 4, the RSM of interest and the different phases of the mission will be introduced, while in Sect. 5, numerical results, obtained through in-house codes developed in Matlab, will be showed and described
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