Case study on MEMS integration for Mars rovers

Case study on MEMS Integration on Mars rovers
A Technical Seminar on “SPACE ROBOTICS” in partial fulfillment for
the award of degree Masters in Technology - Aerospace Engineering

Contents
Wednesday, August 10, 2016 2SPACE ROBOTICS
 Introduction
 What is Space Research & Space Robotics ?
 Space Robot-Challenges in Design and Testing
 Structure of Space Robots
 Operation
 Case Study of MEMS on Mars Rovers
 Conclusion
 Reference
Astronaut & Robonaut

Wednesday, August 10, 2016 3SPACE ROBOTICS
• Space Robotics is the development of machines for the space environment that
perform Exploration, or to Assemble/Construct, Maintain, or Service other
hardware in Space.
• Humans generally control space robots locally (e.g. Space Shuttle robotic arm)
or from a great distance (e.g. Mars Exploration Rovers)
• Robotics is a field that has been magnified by its association to space research.
• The most important thing to note is that the scale of success in space systems is
same as that for biological systems i.e., “SURVIVAL OF THE FITTEST”
Introduction

What is Space Research & Robotics?
 “SPACE”, the word itself signifies something infinite.
 Space travel has always been dangerous and any unexpected event
can cause death.
 It is here that the robots play a huge role and help mankind in his
research process.
 Development of machines for the space environment.
 Usually controlled by humans.
Wednesday, August 10, 2016 SPACE ROBOTICS 4

Evolution of robots
 SHAKEY (1966-1972):
 It is based on the SPA (sense, plan and action) algorithm. It is used in
built world modules to match and worked accordingly.
 FLOW CHART:

HYBRID SYSTEMS (2000-??)
• FLOW CHART:
• The next generation of system is
called as probabilistic robots ,
which are under development and
research.

SIMPLE BLOCK DIAGRAM OF SPACE ROBOT

AREAS OF APPLICATION
• In orbit positioning and assembly
• Operation
• Maintenance
• Resupply
Scientific Applications under above categories are
• Scientific Experimentation
• Assist crew in space station assembly
• Space servicing function
• Space craft enhancements
• Space Tug

Types of Robots in space
There are 3 basic types of robots in space and all the robots sent to space come under these types only.
Planetary Rovers:
• It is the most advanced form of robotics technology used in space research. They are the robots, which
explore, navigate and research themselves with the least human intervention; they analyze the data
collected and send the results back to earth.
Orbit Operators:
• They are the robots, which assist an astronaut during his space mission. For example a robot can be
designed specially to refuel a shuttle thus helping the astronaut to remain in his shuttle and accomplish
various tasks without any risk to their lives
Mineralogy Robots:
• Presently humans are facing a huge challenge of exhaustion minerals due to which space exploration is
being used specifically for mineralogical purposes
• It allows the robot to detect rocks and get precise spectral measurements and validate the data without
any human intervention

CHALLENGES IN DESIGNING
 ZERO “g” EFFECT ON DESIGN
 VACUUM THERMAL EFFECT
 OTHERFACTORS
 SPACE MODULAR MANIPULATORS

ZERO “g” EFFECT
Arm will be light in mass
Manipulator arm -stiffness
based
 Joint actuators -selected
based on dynamic torque
(based on the acceleration
of the arm).
Lack of inertial frame

VACUUM & THERMAL EFFECT
 Total mass loss (TML) <1%
 Collected volatile condensable matter (CVCM) <0.1%.
 Low temperature -embrittlement of the material,
weaken adhesive bonding and increase friction in
bearings.
 Large thermal gradients -distortion in structural
elements and jamming of the mechanism

OTHER FACTORS
Prime requirements of space systems is
lightweight and compactness.
Dynamic loads during launch-sinusoidal
vibrations, random vibrations, acoustic noise
and separation shock spectra.

SPACE MODULAR MANIPULATORS
The unique thermal, vacuum and gravitational
conditions of space drive different from the
typical laboratory robot
Four main design drivers were
Extreme Thermal Conditions;
High Reliability Requirements;
Dynamic Performance;
Modular Design.

ROBOT PERFORMANCE ASSESSMENT
To identify the main source of error which
perturb the accuracy of the arm.
To decide if the arm or the work cell must be
calibrated.
To compare the expected improvement in
accuracy in calibration.

ROBOT CALIBRATION
Error sources are identified by a bottom up
analysis
Error sources are identified and are sorted
into three categories
Systematic error
Pseudo systematic error
Random errors

STRUCTURE SPACE ROBOTS
A. JOINTS
B. ARM
C. WRIST
D. GRIPPER

Joints Arms
 Two types of joints are
Roll joint
Pitch joint
 Each joint consists of
Electro optical angular encoders
Pancake type DC torque motors
Harmonic gear
Electromagnetically actuated
friction brakes
Pick and place type
Fit tem to clamp or fixture
High accuracy attainable

OPERATION
SPACE SHUTTLE ROBOT ARM USES
Survey the outside of the Space Shuttle
Transport an EVA crew member at the end of
the arm
Satellite deployment and retrieval
Construction of International Space Station

FREE FLYING SPACE ROBOTS
In a free flying space robot a robot arm is
attached to the satellite base
The satellite may start rotating in an
uncontrollable way.
The antenna communication link may be
interrupted

Free Flying Space Robots

SPACE STATION MOUNTED ROBOTS
JEMRMS SPDM

1965 – First FLYBY (Mariner 4)
1971 – First ORBITER (Mariner 9)
1976 – First LANDER (Viking)
1997 – First ROVER (Sojourner)
Later Rovers
Opportunity (2004)
Curiosity (2012)
Mars Probe Highlights

Implementation of MEMS
Spirit OpportunityThe larger Mars Exploration
Rovers (Spirit and
Opportunity) landed in 2004.
Spirit lasted until 2010,
Opportunity still going!
Curiosity was launched from Cape Canaveral on November 26, 2011, at 10:02.
It landed on in Gale Crater on Mars August 5, 2012

Conclusion
• We can conclude after all the research that the field of
robotics has made serious and positive inroads in the
field of space exploration. The various technologies
used in robots have made space research cost effective
and efficient also.
• It has put an end to serious problems like loss of
human life and huge expenditures. Robots with near
human-like qualities have led to amazing discoveries
and have opened up a Pandora’s Box of knowledge
and mystery.

References
• http://marsprogram.jpl.nasa.gov/mro/multimedia/images/?ImageID=3180
• http://www.uahirise.org/PSP_007338_2640
• http://www.nasa.gov/mission_pages/phoenix/images/phx-17072.html
• http://nowscape.com/star_city/images/sunset_on_mars_PIA07997.jpg
• http://www.nasa.gov/multimedia/imagegallery/image_feature_347.html
• http://www.impactlab.com/wp-content/uploads/2009/10/Mars-mission-graphic.jpg
• http://www.nasa.gov/pdf/428154main_Planetary_Science.pdf
• http://lasp.colorado.edu/maven/docs/MAVEN_fact_sheet.pdf
• http://mepag.jpl.nasa.gov/reports/index.html

For your cherished time…
28Wednesday, August 10, 2016 SPACE ROBOTICS

29Wednesday, August 10, 2016 SPACE ROBOTICS

Case study on MEMS integration for Mars rovers

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