An Overview of Japanese Space Robots Development

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  An Overview
  of
  Japanese Space Robots　Development
  
  March 14, 2013
  by
  Shinichi Tsuda
  Department of Aeronautics and Astronautics
  School of Engineering
  Tokai Universty
  
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  Japanese Space Robot Programs
  1. MFD
  (Manipulator Flight Demonstration)
  2. ETS-7
  (Engineering Test Satellite 7)
  3. JEMRMS
  (Japanese Experiment Module Remote
  Manipulator System)
  
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  Outline of Presentation
  -Characteristics of Space Robot Design
  -Robotic Elements of the JEM in the
  International Space Station (ISS)
  -MFD including Safety Design and EVA
  Compatibility Design
  -ETS-7 with Robotic Missions
  -JEMRMS including Maintainability and
  Commonality
  
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  Characteristics of Space Robot Design(1/3)
  ■Launch Environments
  Quasi-static Load
  Random Vibration
  Acoustic Vibration
  Mechanical Shock Acceleration
  
  ■Space Environments
  Vacuum : Lubrication
  Radiation : Malfunction of Control Computer
  (Single Event and Total Dose)
  →(Upset and Latch-up)
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  Characteristics of Space Robot Design(2/3)
  　　Space Debris : Structural Failure,
  Bamper
  Weightless Environment : Massive
  Payload Handling, No Ground Test
  and Flexibility of the Robot Arm
  Thermal Cycle : Sunlit/Eclipse and
  Thermal Expansion (Material
  Selection)
  
  
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  Characteristics of Space Robot Design(3/3)
  Atomic Oxygen Erosion: Degradation of
  Thermal Surface
  Nonholonomic System : Depending on
  the trajectory, the attitude change of spacecraft
  due to the Robot Arm Motion will
  be different.
  
  ■Manned Space System
  Safety Design Consideration: Fault Tolerance
  Maintainability: EVA (Extravehicular Activities)
  Compatibility Design
  Commonality: Human Machine Interface
  
  
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  Robotic Elements of the JEM in the International Space Station(1/3)
  ■The Japanese Experiment Module (JEM)
  is the first Japanese laboratory in space.
  ■The JEM Exposed Facility (JEM-EF) is
  one of the most unique elements not only of
  the JEM but also of the International
  Space Station, as an area which is exposed
  constantly to the space environment.
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  ISS/JEM On-orbit Configuration
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  JEM Configuration
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  Robotic Elements of the JEM in the International Space Station(2/3)
  ■Replacement or handling of the
  experiments, materials and Orbital
  Replacement Units (ORU) mounted on the
  JEM-EF will be done by a robot arm system
  (JEM Remote Manipulator System : JEMRMS) .
  ■The JEMRMS consists of a main arm which is
  about 10 meters long and a small fine arm
  which is about 2 meters long and grappled by
  the main arm in use.
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  Robotic Elements of the JEM in the International Space Station(3/3)
  ■Both arms have 6 joints (6 degrees-of-
  freedom) and can move like a human’s
  arm.
  ■Crews in the JEM Pressurized Module
  operate these arms using hand controllers.
  ■The JEMRMS is one of functionally
  important and technically advanced
  components of the JEM.
  
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  1. MFD
  
  (MANIPULATOR FLIGHT DEMONSTRATION)
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  MFD (Manipulator Flight Demonstration) Experiment (1/2)
  ■Manipulator Flight Demonstration was
  planned to demonstrate the functions and the
  performances of the Robot Arm similar to the
  JEMRMS Small Fine Arm using the Space
  Shuttle prior to JEM launch.
  ■The robot arm was installed in the Shuttle
  Orbiter Payload Bay and operated by IVA crews
  in the Aft Flight Deck of the Shuttle orbiter using
  hand controllers.
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  MFD (Manipulator Flight Demonstration) Experiment (2/2)
  ■The functions and the performances of the
  Robot Arm in the space environment were
  confirmed, and the Orbital Replacement Unit
  (ORU) detachment/attachment function and the
  hinged door open/close function were
  demonstrated.
  ■Also the advanced experiment of the Robot
  Arm control from the ground was conducted in
  cooperation with NASA.　
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  MFD MISSION
  ■STS　Launch：　STS-85　Discovery
  ■Launch Date：　August 7, 1997　GMT
  ■Orbit Altitude：270 km　
  ■Inclination： 57 deg
  ■Payload Bay Element：Mounted on MPESS
  ■AFD Element: Robotic Workstation
  
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  STS-85 Cargo Bay Configuration
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  Sequence of Robot Arm Operation(1/3)
  ■The flight test of the Robot Arm was conducted
  as follows:
  During the launch the Robot Arm was held
  by the Arm Hold and Release Mechanism
  (AHRM). (Fig.1)
  (2)Crews assembled the workstation in the Aft
  Flight Deck, activated the MFD onboard system,
  released the Robot Arm from the AHRM and
  Then, performance of the Robot Arm was verified.
  (Fig.2)
  
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  Sequence of Robot Arm Operation(2/3)
  (3) Demonstration of an Orbital Replacement Unit (ORU) detachment/attachment and a Door open/close were conducted, and the functions and performances of the Robot Arm were evaluated. (Figs. 3and 4)
  (4)After the completion of the tests by the crew, the NASA ground station sent commands to the Robot Arm through the Shuttle Orbiter to remotely control the Robot Arm.
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  Sequence of Robot Arm Operation(3/3)
  (5)The Robot Arm was held by the AHRM
  for Shuttle Orbiter return to the earth.
  (fig.1)
  (6)Crews deactivated the MFD onboard
  system, and disassembled and stowed the
  workstation in the Aft Flight Deck.
  ■EVA compatibility design and its demonstration in the NASA WETF
  
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  Sequence of Robot Arm Operation(3/3)
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  Safety Design(1/3)
  ■The unique nature of the Manned Space
  System is the Safety Design Consideration.
  ■In general Fault Tolerances are the basic
  design approach to secure the safety.
  ■All the hazards are analyzed and the
  following hazards must be identified:
  (1)Critical Hazard
  (2) Catastrophic Hazard
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  Safety Design(2/3)
  (1)Critical Hazard may cause damage to equipment, non-disabling injury, and requires unscheduled safing of orbiter, and affects operations
  no single failure should result in a critical hazard ==> 2 controls (i.e., redundant) to prevent critical hazard
  (1FT)
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  Safety Design(3/3)
  (2)Catastrophic Hazard: disabling / fatal
  personal injury, loss of orbiter.
  No combination of two failures should
  result in a catastrophic hazard ==> 3
  controls (i.e., dual redundant) to
  prevent critical hazard (2FT)
  Ex) Inadvertent Release of Payload,
  Collision with other structures or payload
  
  
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  EVA
  ■EVA was one of the means to secure the
  Payload for Safety Return of the Orbiter.
  ■Therefore the EVA could be taken into
  account as a redundancy.
  ■In the case that enough time is not left
  for securing the Payload Elements,
  Jettison of the Payload (MPESS) was also
  available.
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  EVA Compatibility
  ■EVA (Extravehicular Activities) compatible design was incorporated and its design verification was conducted in the NASA JSC WETF.
  - Restowing the Robot Arm and fixing
  it with the AHRM by EVA Astronaut
  - Safing the Robot Arm, ORU and door
  by EVA
  
  
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  WETF Verification of the EVA Compatibility Design
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  MFD Training Facility
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  Robot Arm Flight Model
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  MFD Operation by the Dr. N Jan Davis in AFD
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  Payload Element (ORU)
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  Payload Element (DOOR)
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  MFD Workstation Configuration
  AFD Workstation
  (Stowed)
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  MFD Cargo Bay Elements by Payload Bay Camera (1/3)
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  MFD Cargo Bay Elements by Cargo bay Camera (2/3)
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  MFD Cargo Bay Elements by Cargo bay Camera (3/3)
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  STS-85 Mission
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  2. ETS-7
  
  (Engineering Test Satellite 7)
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  ETS-7
  ETS-7 was launched from Tanegasima
  launch pad in November 26， 1997 by H
  II-6 Launcher.
  Two spacecrafts latched together were
  injected into the orbit and released on orbit.
  These spacecrafts were chaser and target
  satellites:
  
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  ETS-7 Orbit Parameters
  ■Orbit:　　　Circular
  ■Altitude: 550 km
  ■Inclination: 35 deg
  ■Orbital Period: 96 min
  ■Attitude Control: 3-axis Stabilized
  ■Mass: 2,860 kg (Two spacecrafts)
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  ETS-7
  Chaser “Hikoboshi” (Altair)
  2.6m×2.3m×2.0m Box type
  Deployable solar arrays
  Target “Orihime” (Vega)
  0.7m×1.7m×1.5m Box type
  Deployable solar array
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  Chaser/Target Satellites
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  LAUNCH CONFIGURATION
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  ETS-7 Missions
  Space Robot Experiments
  Tele-operation
  Truss Assembling
  ORU Handling
  Refueling dummy propellant
  
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  Space Robot Performance
  ■Mass 150kg
  ■Tip Positioning Accuracy
  10mm, 1 deg or less
  ■Repeated Accuracy
  2.5mm, 0.13 deg or less
  ■Max. Tip Velocity
  50 mm/sec or more, 5 deg/sec or more
  ■Max. Joint Velocity
  13 deg/sec or more
  ■Tip Force
  more than 20 N & less than 90 N
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  ETS-7 Space Robot Experiments
  ■ETS-7 space robot experiment was the first attempt in　
  the world, which was launched by the ELV as unmanned
  space systems.
  ■Perturbation of the spacecraft attitude by the
  operation of the robot arm can not be neglected and
  therefore the attitude stabilization experiment was done.
  ■ETS-7 robot arm was operated by the ground
  command via the geosynchronous Data Relay Satellite
  and suffered from 4 ~30 seconds time delay. Experiment
  to compensate the delay was prepared.
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  System Elements of Space Robot Experiment(1/6)
  (1) Robot Arm
  6 degrees of freedom
  Approximately 2m long
  Each joint is driven by DC brushless
  motor with harmonic drive gear.
  Control mode
  1) Joint position/Rate control mode
  2) Cartesian position/Rate Control mode
  3) Cartesian compliance control mode
  
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  System Elements of Space Robot Experiment(2/6)
  (2) Robot arm end effector and tools:
  Robot arm has an end effector to
  handle the ORU (Orbital Replacement
  unit) .
  Tool can be also attached to the end
  effector for the specific use.
  Target satellite handling tool is used to
  grasp the target satellite.
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  System Elements of Space Robot Experiment(3/6)
  (3) Robot Mission Onboard Controller:
  32 bit onboard computer
  manages onboard robot subsystem.
  This includes 3 set of 32 bit processor
  which run at 20 MHz.
  (4) Arm drive electronics:
  Robot arm joint servo control is
  managed by this electronics.
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  System Elements of Space Robot Experiment(4/6)
  (5) ORU
  Experimental ORU is mounted on the
  robot experiment platform.
  Grasping, removing and restoring
  operations are done.
  A fuel supply experiment is done to
  demonstrate a liquid QD(Quick
  Disconnect) for the fuel transfer.
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  System Elements of Space Robot Experiment(5/6)
  (6) Taskboard
  Taskboard is used for evaluation of the
  robot arm performance.
  The taskboard consists of Force Torque
  Sensor Calibration mechanism, Peg-in-
  hole mechanism, slide handle and
  others.
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  System Elements of Space Robot Experiment(6/6)
  (7) Vision System
  A pair of Arm Hand Camera are mounted on the robot arm endeffector and used to measure attitude and distance between the robot arm and payloads.
  Also a pair of Arm monitor camera are mounted to observe robot arm motion.
  The above pairs of cameras can produce the stereoscopic images.
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  Onboard Robot Experimental Equipment
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  Robot Experiment Platform
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  3. JEMRMS
  
  (Japanese Experiment Module Remote Manipulator System)
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  JEM On-orbit
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  JEMRMS
  ■The JEMRMS (JEM Remote Manipulator System) is
  remotely manipulated system to reduce the crew EVA
  (Extravehicular Activities) task and its work loads.
  ■The following tasks are performed by JEMRMS:
  -Berthing of JEM Elements
  -Exchange of Payloads and ORU (Orbital
  Replacement Unit) on the Experimental Platform
  (EF)
  -Support of Experiments
  -Maintenance Tasks
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  JEMRMS
  ■Main Elements of JEMRMS
  -a main arm,
  -a small fine arm (SFA) which is
  grappled by the main arm Endeffector
  and
  -RMS Console in PM.
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  JEMRMS
  ■Major Performance of JEMRMS
  Length (extended) 10 m (Main Arm)
  2 m (SFA)
  Mass 780 kg (Main Arm)
  190 kg (SFA)
  Handling Payload 7,000 kg (Main Arm)
  80 kg (SFA)
  Tip Velocity (Max) 60 mm/sec, 2.5 deg/sec
  (Main Arm)
  50 mm/sec, 7.5 deg/sec
  (SFA)
  
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  JEMRMS
  ■Major Performance (continued)
  Positioning Accuracy
  +/- 50 mm +/- 1.0 deg (Main Arm)
  +/- 10 mm +/- 1.0 deg (SFA)
  Tip Force and Torque
  30 N or more, 60 Nm or more (Bending)
  90 Nm or more (Torsional) (Main Arm)
  
  30 Nm or more, 4.5 Nm or more (Bending)
  6 Nm or more (Torsional) (SFA)
  Stopping Distance
  300 mm or less (Main Arm)
  50 mm or less (SFA)
  
  
  
  
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  JEMRMS
  ■Degree of Freedom and its Allocation
  6 DOF YPPPYR (Main Arm)
  6 DOF RPPPYR (SFA)
  ■Main Arm
  Boom, Joint Mechanisms, Joint
  Electronics, Endeffector, TV cameras,
  Pan/Tilt Units and Lights
  
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  JEMRMS
  ■Small Fine Arm
  SFA Electronics, Boom, Wrist Camera,
  Tool (Endeffector), Force/Torque
  Sensor for Force/Torque Control
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  JEMRMS Maintainability
  ■The following elements of the Main Arm are designed as ORU:
  Joints, LEE (Latching Endeffector),
  and TV Camera/Pan Tilt Unit.
  
  (The SFA is maintained in the PM by IVA
  Crew)
  
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  Man Machine Interface Commonality
  ■In the ISS (International Space Station)
  there are a few robots (Canadarm, SPDM,
  JEMRMS and etc..)
  ■In order to avoid the complicated operation,
  the Crew Man Machine Interface shall be
  common among those robot.
  ■Hand Controllers are common equipment in
  the ISS (STS type Hand Controllers were
  selected).
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  JEMRMS Main Arm Operation
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  SFA Grappled by Main Arm
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  Take out of the SFA through Air Lock
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  Assembling of SFA in PM
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  RMS Workstation
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  Robotic Workstation in PM
  (So many Laptops)
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  Ground Training of JEMRMS
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  JEMRMS Operation by Robotic Workstation in PM
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  JEM Configuration
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  JEMRMS Attached to PM
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  Two Dimensional Operability Test of Main arm
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  Common LEE
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  PDGF (Power Data Grapple Fixture)
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  SSRMS Configuration
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  Cooperative Work with SSRMS
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  Summary
  ■In summary the Space Robot　
  Development in Japan has been successful
  so far.
  ■A lot of experimental results have been
  obtained for unmanned and manned Space
  Robot Systems.
  ■Future application of the above result
  will be expected.
  87