Development of a Linear Guide-Rail Testbed for Physically Emulating ISAM Operations

TL;DR

ISAM operations introduce complex perturbation forces when a $6$-DOF robotic arm moves on a free-flying satellite. The authors design a hardware-in-the-loop testbed with a UR3e arm on a $1$-DOF guide-rail, connected to an optical breadboard via custom L-bracket and adapters, to emulate ISAM dynamics in a controlled, linear-motion environment. They conduct design and manufacturing phases to deliver a rigid, modular interface and lay groundwork for future experiments that validate space-motion, manipulator, and contact-mechanics models. This testbed enables direct observation of reactionary satellite motions and paves the way for data-driven model validation and refinement for ISAM technologies.

Abstract

In-Space Servicing, Assembly, and Manufacturing (ISAM) is a set of emerging operations that provides several benefits to improve the longevity, capacity, mo- bility, and expandability of existing and future space assets. Serial robotic ma- nipulators are particularly vital in accomplishing ISAM operations, however, the complex perturbation forces and motions associated with movement of a robotic arm on a free-flying satellite presents a complex controls problem requiring addi- tional study. While many dynamical models are developed, experimentally test- ing and validating these models is challenging given that the models operate in space, where satellites have six-degrees-of-freedom (6-DOF). This paper attempts to resolve those challenges by presenting the design and development of a new hardware-in-the-loop (HIL) experimental testbed utilized to emulate ISAM. This emulation will be accomplished by means of a 6-DOF UR3e robotic arm attached to a satellite bus. This satellite bus is mounted to a 1-DOF guide-rail system, en- abling the satellite bus and robotic arm to move freely in one linear direction. This experimental ISAM emulation system will explore and validate models for space motion, serial robot manipulation, and contact mechanics.

Figures (4)

• Figure 1: UR3e 6-DOF Robotic Manipulator. UR3e
• Figure 2: FEA Conducted for 3031, 6061, and AISI 1020.
• Figure 3: Marked locations on L-Bracket for manufacturing.
• Figure 4: Marked locations on Adapter for manufacturing.