2026-09-19T13:29:02Zhttps://dspace.mit.edu/server/oai/requestoai:dspace.mit.edu:1721.1/404382022-01-13T07:54:36Zcom_1721.1_7582com_1721.1_7581col_1721.1_131024
Steven Dubowsky.
Harlan, Andrew R. (Andrew Ryan)
Massachusetts Institute of Technology. Dept. of Mechanical Engineering.
Massachusetts Institute of Technology. Department of Mechanical Engineering
2008-02-27T22:25:41Z
2008-02-27T22:25:41Z
2007
http://hdl.handle.net/1721.1/40438
191701131
Thesis (S.B.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, June 2007.
"May 2007."
Includes bibliographical references (p. 52-53).
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.
by Andrew R. Harlan.
S.B.
57 p.
eng
Massachusetts Institute of Technology
M.I.T. theses are protected by copyright. They may be viewed from this source for any purpose, but reproduction or distribution in any format is prohibited without written permission. See provided URL for inquiries about permission.
http://dspace.mit.edu/handle/1721.1/7582
Mechanical Engineering.
Design and fabrication of a test apparatus for lightweight flexible space modules for assembly
Thesis
application/pdf
Publication
unknown
unknown
<Publication xmlns="https://www.openaire.eu/cerif-profile/1.1/" id="66921ead-cec3-4e9e-9728-b8ce0e492869">
<Type xmlns="https://www.openaire.eu/cerif-profile/vocab/COAR_Publication_Types">http://purl.org/coar/resource_type/c_1843</Type>
<Language>eng</Language>
<Title>Design and fabrication of a test apparatus for lightweight flexible space modules for assembly</Title>
<PublishedIn>
<Publication>
</Publication>
</PublishedIn>
<PublicationDate>2007</PublicationDate>
<Authors>
<Author>
<DisplayName>Harlan, Andrew R. (Andrew Ryan)</DisplayName>
<Affiliation>
<OrgUnit>
</OrgUnit>
</Affiliation>
</Author>
</Authors>
<Editors>
</Editors>
<Publishers>
<Publisher>
<DisplayName>Massachusetts Institute of Technology</DisplayName>
<OrgUnit />
</Publisher>
</Publishers>
<License>http://dspace.mit.edu/handle/1721.1/7582</License>
<Keyword>Mechanical Engineering.</Keyword>
<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.</Abstract>
<Access xmlns="http://purl.org/coar/access_right"
>
</Access>
</Publication>