A dual-armed free flyer

Abstract

In this summary, we present the main conclusions and results of a design study conducted by a group of 25 students at the University of Maryland. The students, all participants in the spring 1988 courses ENEE488Q and ENEE418 in the Electrical Engineering Department, considered the problem of designing a free-flying space robot for applications in satellite servicing. In addition to the paper study, a subgroup of eight students undertook the ambitious task of designing and building a laboratory testbed for the concept of a free flyer. This subgroup has already completed the main fabrication of the mechanical hardware and most of the onboard electronics. When completed by the end of the summer, the testbed will consist of a seven-degree-of-freedom dual-armed planar robot that will float on an air table and carry out various commanded tasks. All the fabrication and testing is being conducted in the Intelligent Servosystems Laboratory at the University of Maryland. The project team split up into subgroups as follows: (1) articulation concepts 1 and 2, to study competing ideas for the overall systems architecture and manipulator design; (2) real time control systems group; (3) a computer graphics group to provide animations of a planar design; (4) a mechanical hardware design group for the laboratory testbed; and (5) a control systems hardware design group for the same.