Design and fabrication of a test apparatus for lightweight flexible space modules for assembly
Name
191701131-MIT.pdf
Description
Full printable version
Size
2.5 MB
Format
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Checksum (MD5)
4220ba73d7427be1f5e19cd91c8fa4ac
Author(s)
Harlan, Andrew R. (Andrew Ryan)
Advisor(s)
Steven Dubowsky.
Date Issued
2007
Publisher
Massachusetts Institute of Technology
Abstract
Future space missions will require the on-orbit construction of large structures, such as solar arrays and telescopes. Currently, on-orbit construction and maintenance work is primarily accomplished by astronauts, during extra-vehicular "space walks". These are expensive and pose risks to the astronauts' lives. In the future, it is expected that an increasing number of on-orbit construction missions will be performed by autonomous robotic systems. Large structures will be constructed using modules made of lightweight materials, and will be very flexible. In MIT's Field and Space Robotics Lab (FSRL), algorithms are being developed to optimize the transportation and assembly of large, flexible structures. To test these algorithms, it is necessary to have laboratory flexible beam modules with similar properties to structural space modules. This thesis presents a design for a set of flexible modules which have comparable properties to proposed space modules. These modules are designed to be manipulated by a team of laboratory robots. The design process and final design of the flexible beam, which comprises a majority of the flexible module is presented. Several gripping devices, which attach the modules to robot manipulators, are also designed.
Description
Thesis (S.B.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, June 2007.
"May 2007."
Includes bibliographical references (p. 52-53).
Subjects
Mechanical Engineering.
MIT Department
Massachusetts Institute of Technology. Department of Mechanical Engineering
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