1) Space robots are designed to substitute for human activities in space, as they have mechanical bodies operated by computer brains. 2) Some key challenges in designing space robots include accounting for zero-gravity effects on the design, dealing with vacuum and thermal effects on materials, and ensuring modularity. 3) Space robots can be used for applications like in-orbit assembly, operations and maintenance, resupply, and scientific experimentation and assistance in tasks like space station assembly.

1. BY
SHUKKUR CS
13031321

2. INTRODUCTION
Robot
Mechanical body , computer has its brain
 Space Robotics
substitute or subsidized for the man activities in
space
 Possible to design and develop the advanced robot
system

3. SIMPLE BLOCK DIAGRAM OF SPACE ROBOT

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

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

6. 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

7. 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.

8. 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; and
Modular Design.

9. SYSTEM VERIFICATION&TESTING
The commonly used simulations for zero ‘g’
are
Flat floor test facility
Water immersion
Compensation system

10. 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.

11. 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

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

13. JOINTS
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

14. ARM
 pick and place type
Fit tem to clamp or fixture
High accuracy attainable

15. OPERATION
SPACE SHUTTLE ROBOT ARM
Use
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

16. ROBOT ARM OPERATION MODE
THC RHC

17. 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

18. Free flying space robots

19. APPLICATION
 In orbit positioning and assembly
 Operation
 Maintenance
 Resupply

20. Scientific Applications under the above
categories are
Scientific Experimentation
Assist crew in space station assembly
Space servicing function
Space craft enhancements
Space Tug

21. CONCLUSION
 In the future, robotics will makes it possible
for billions of people to have lives of leisure
instead of the current preoccupation with
material needs.
There are hundreds of millions who are now
fascinated by space but do not have the means
to explore it.
 For them space robotics will throw open the
door to explore and experience the universe.