single-rb.php

JRM Vol.29 No.5 pp. 792-800
doi: 10.20965/jrm.2017.p0792
(2017)

Development Report:

On-Orbit Demonstration of Tether-Based Robot Locomotion in REX-J Mission

Hiroki Nakanishi*1, Mitsuhiro Yamazumi*1, Sotaro Karakama*1, Mitsushige Oda*1, Shin-ichiro Nishida*2, Hiroki Kato*3, Keisuke Watanabe*3, Atsushi Ueta*3, Masahiro Yoshii*4, and Satoshi Suzuki*4

*1Tokyo Institute of Technology
2-12-1 Oookayama, Meguro, Tokyo 152-8550, Japan

*2Tottori University
4-101 Koyamacho-Minami, Tottori, Tottori 680-8552, Japan

*3Japan Aerospace Exploration Agency
2-1-1 Sengen, Tsukuba, Ibaraki 305-8505, Japan

*4Advanced Engineering Service Co., Ltd.
1-6-1 Takezono, Tsukuba-shi, Ibaraki 305-0032, Japan

Received:
March 21, 2017
Accepted:
July 18, 2017
Published:
October 20, 2017
Keywords:
space robot, locomotion, tether, international space station
Abstract
On-Orbit Demonstration of Tether-Based Robot Locomotion in REX-J Mission

Tether-based locomotion of REX-J

Locomotion is an important factor affecting astronaut support robots that are used in construction, repair, and inspection. Its requirements include long reach, compactness, and light weight. Tether is a good candidate because it allows for a long reach but is very light. It is also compact when wound up. The authors have previously proposed a reconfigurable tether-based locomotion method. In the concept, the robot attaches/detaches its tethers to/from handrails on the spacecraft and moves by controlling the length and tension of the tethers. From August 2012 to May 2013, JAXA conducted the Robot Experiment on JEM (REX-J) mission, experimentally demonstrating the proposed method on the International Space Station. During the experiment, all the locomotion tasks were successfully completed. This paper describes the results of these locomotion experiments.

References
  1. [1] P. K. Nguyen and P. C. Hughes, “Teleoperation: From the Space Shuttle to the Space Station,” AIAA Progress in Aeronautics & Astronautics Vol.161, pp. 353-410, 1994.
  2. [2] E. Coleshill et al., “Dextre: Improving maintenance operations on the International Space Station,” Acta Astronautica, Vol.64, Issues 9-10, pp. 869-874, 2008.
  3. [3] N. Sato and Y. Wakabayashi, “JEMRMS Design Features and Topics from Testing,” Proc. of 6th i-SAIRAS, pp. 1-7, 2001.
  4. [4] G. V. Tzvetkova, “Robonaut 2: Mission, Technologies, Perspectives,” J. of Theoretical and Applied Mechanics, Vol.44, Issue 1, pp. 97-102, 2014.
  5. [5] S. E. Fredrickson et al., “On-orbit engineering tests of the aercam sprint robotic camera vehicle,” Adv. Astronaut. Sci., Vol.99, Issue Pt.2, pp. 1001-1020, 1998.
  6. [6] A. Saenz-Otero and D. Miller, “The SPHERES ISS laboratory for rendezvous and formation flight,” European Space Agency-Publications-ESA SP 516, pp. 217-224, 2003.
  7. [7] M. Oda, “Tethered robot which moves along a large space structure,” Proc. of the Space Science and Technology Symposium, 1D03, 2007.
  8. [8] J. S. Albus et al., “The NIST ROBOCRANE,” J. of Research of the National Institute of Standards and Technology, Vol.97, No.3, pp. 373-385, 1992.
  9. [9] S. Kawamura, W. Choe, S. Tanaka, and S. R. Pandian, “Development of an ultrahigh speed robot FALCON using wire drive system,” Robotics and Automation, Vol.1, pp. 215-220, 1995.
  10. [10] P. L. Swaim, C. J. Thompson, and P. D. Campbell, “The Charlotte intra-vehicular robot,” Technical Report N95-23703, NASA, pp. 157-162, 1994.
  11. [11] P. E. Glaser, “Power from the Sun: Its Future,” Science, Vol.162, pp. 867-886, 1968.
  12. [12] S. Sasaki et al., “Conceptual Study of SSPS Demonstration Experiment,” The Radio Science Bulletin, No.310, pp. 9-14, 2004.
  13. [13] M. Oda et al., “Proposal of a Tethered Space Walking Robot – REX-J: Robot Experiment on JEM –,” Trans. of the Japan Society for Aeronautical and Space Sciences, Space Technology Japan, Vol.7, No.ists26, pp. Td7-Td12, 2009.
  14. [14] H. Nakanishi et al., “Vibration Analysis for the Extendable Robot Arm of REX-J,” Trans. of the Japan Society for Aeronautical and Space Science, Space Technology Japan, Vol.12, No.ists29, pp. Tk57-Tk62, 2015.
  15. [15] J. D. MacNaughton, H. N. Weyman, and E. Groskopfs, “The BI-STEM – A New Technique in Unfurlable Structures,” Technical Memorandum, Jet Propulsion Laboratory, Vol.33, No.355, pp. 139-145, 1967.
  16. [16] T. Ueno and M. Oda, “Development of an Index Finger for the Dexterous Hand for Space,” Trans. of th Japan Society of Mechanical Engineers, Vol.28, pp. 349-359, 2010.
  17. [17] M. Yamazumi and M. Oda, “Tether Based Locomotion for Astronaut Support Robot Introduction of Robot Experiment on JEM,” J. Robot. Mechatron., Vol.25 No.2, pp. 306-315, 2013.
  18. [18] S. Suzuki et al., “Evaluation of the tether based locomotion using image processing in the REX-J mission,” Trans. of the JSME, Vol.81, No.824, 2015 (in Japanese).
  19. [19] R. G. Roberts, T. Graham, and J. M. Trumpower, “On the inverse kinematics, statics, and fault tolerance of cable – suspended robots,” J. of Robotic Systems, Vol.15, Issue 10, pp. 581-597, 1998.

*This site is desgined based on HTML5 and CSS3 for modern browsers, e.g. Chrome, Firefox, Safari, Edge, IE9,10,11, Opera.

Last updated on Dec. 12, 2017