Concepts of active payload modules and end-effectors suitable for Standard Interface for Robotic Manipulation of Payloads in Future Space Missions (SIROM) interface
Marko Jankovic, Wiebke Brinkmann, Sebastian Bartsch, Roberto Palazzetti, Xiu Yan
In Proceedings of the 2018 IEEE Aerospace Conference, 03.3.-10.3.2018, Big Sky, Montana, IEEE, 2018.

Zusammenfassung (Abstract) :

The increasing variety of space missions, combined with their increasing complexity and need for more environmentally-friendly, yet cost-effective, solutions is putting the traditional spacecraft and rover designs to the test. In fact, the majority of present-day spacecraft and planetary rovers are mostly monolithic, one-of-a-kind, single-use systems, hardly offering any possibility of their future servicing, upgrade or re-use. The H2020 EU-funded project SIROM (Standard Interface for Robotic Manipulation of Payloads in Future Space Missions), aims to bridge this gap by developing an integrated and inherently optimized multi-functional standard interface for mechanical, data, electrical and thermal connectivity. The interface, in combination with a custom end-effector and active payload modules (APMs) will allow a design of modular and reconfigurable systems that could be serviced and upgraded easier than they are now via a dedicated in-orbit or planetary robotic system. With respect to the existing state-of-the-art, the interface and modules in SIROM are being developed considering the need for scalability, reusability, compatibility with robotic manipulation and suitability for both in-orbit and planetary environments. Within this context, this paper aims at analyzing the feasibility of APM and end-effector concepts within the system requirements of the project in order to identify the most suitable baseline concepts for the preliminary design of APMs and end-effector. The analysis is performed in terms of functionalities and architecture, and in case of APMs considers a remote sensing and power storage system as payloads for orbital and planetary scenarios, respectively. The methodology used for the evaluation and selection of APM concepts and end-effectors is a top-down methodology generally used for the design and sizing of payloads of space missions. It consists of: (a) a definition of payload objectives and its desired capabilities, (b) identification of candidates, (c) estimation of their characteristics based on analogy, scaling or component budgeting, (d) evaluation and selection of a baseline. Moreover, in case of end-effector analysis its possible interactions and configurations with APM concepts were also taken into consideration. The results of the analysis point out the feasibility of APM and end-effector concepts within the system requirements of the project and outline baseline concepts that could be used in future steps of the project as a guideline in the detailed design of the reference implementation of APMs and end-effector.

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