Design and fabrication of a test apparatus for lightweight flexible space modules for assembly

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.

Department dc:contributor.department

Massachusetts Institute of Technology. Dept. of Mechanical Engineering.

Grantor dc:publisher

Massachusetts Institute of Technology

Year dc:date.issued

2007

Author dc:creator

• Harlan, Andrew R. (Andrew Ryan)

Advisor dc:contributor.advisor

• Steven Dubowsky.

• Mechanical Engineering.

Statement dc:rights

• 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.

Licence dc:rights.uri

• http://dspace.mit.edu/handle/1721.1/7582

Language dc:language.iso

eng

Handle dc:identifier.uri

http://hdl.handle.net/1721.1/40438

OAI identifier oai:identifier

oai:dspace.mit.edu:1721.1/40438