Engineering topics
Smith, Marion F.
Publications and source records attributed to Smith, Marion F..
Astrobee Guest Science
At the end of 2017, Astrobee will launch three free-flying robots that will navigate the entire US segment of the ISS (International Space Station) and serve as a payload facility. These robots will provide guest science payloads with processor resources, space within the robot for physical attachment, power, communication, propulsion, and human interfaces.
Developing a 3-DOF Compliant Perching Arm for a Free-Flying Robot on the International Space Station
This paper presents the design and control of the 3-DOF compliant perching arm for the free-flying Astrobee robots that will operate inside the International Space Station (ISS). The robots are intended to serve as a flexible platform for future guest scientists to use for zero-gravity robotics research - thus, the arm is designed to support manipulation research. It provides a 1-DOF underactuated tendon-driven gripper capable of enveloping a range of objects of different shapes and sizes. Co-located RGB camera and LIDAR sensors provide perception. The Astrobee robots will be capable of grasping each other in flight, to simulate orbital capture scenarios. The arm's end-effector module is swappable on-orbit, allowing guest scientists to add upgraded grippers, or even additional arm degrees of freedom. The design of the arm balances research capabilities with Astrobee's operational need to perch on ISS handrails to reduce power consumption. Basic arm functioning and grip strength were evaluated using an integrated Astrobee prototype riding on a low-friction air bearing.
Astrobee Periodic Technical Review (PTR) Delta 3
Astrobee is a free flying robot for the inside of the International Space Station (ISS). The Periodic Technical Review (PTR) delta 3 is the final design review of the system presented to stakeholders.
Astrobee Guest Science
At the end of 2018, Astrobee will launch three free-flying robots that will navigate the entire US segment of the ISS and serve as a payload facility. The mechanical and electrical interfaces are now established and several payloads are being developed.
Astrobee: Space Station Robotic Free Flyer
Astrobee is a free flying robot that will fly inside the International Space Station and primarily serve as a research platform for robotics in zero gravity. Astrobee will also provide mobile camera views to ISS flight and payload controllers, and collect various sensor data within the ISS environment for the ISS Program. Astrobee consists of two free flying robots, a dock, and ground data system. This presentation provides an overview, high level design description, and project status.
Astrobee Systems Engineering Design Overview
The Astrobee preliminary design documents include subsystem design overview slides and a 3D model of the preliminary design of the Astrobee system including: mechanical, electrical, flight software, network, and ground subsystems.