This document discusses a case study on the integration of microelectromechanical systems (MEMS) on Mars rovers. It first provides background on space robotics and discusses challenges in designing robots for space like withstanding zero gravity and thermal vacuums. It then examines the structures of space robots including their joints, arms, wrists, and grippers. Specific examples of space robots are described like the shuttle robot arm and rovers on Mars. The case study focuses on how MEMS have been implemented on later Mars rovers to help enable scientific exploration of the planet. In conclusion, robots have played a huge role in space research by performing dangerous tasks and making discoveries in place of humans.
humans are still involved and controlling the missions but without risking precious lives
in the long, maintaining robots, inanimate beings, in space is much easier and cheaper than living beings
robots have the capacity to be built to explore environments humans can’t
robots are faster and more efficient in observations and conclusions, they don’t need computers to certify information, they have it programmed… they’re brain and bulk in one lighter specimen
robots now have greater dexterity with new technologies that allow them to have greater dexterity than humans. This comes in handy when dealing with precious, rare space debris
CONS
sending robots into space doesn’t catch the public attention in the same way human exploration does
if something goes wrong in space and the robot’s system depletes, without a human it’ll take a lot to get the robot’s system rebooted again from Earth
don’t have human reasoning… they might do things and go places that are unknown and are a danger to them
REFERENCES
www.andrew.cmu.edu/~ycia/robot.html
www.space.mech.tohoku.ac.jp/research/overview/overview.html
www.nanier.hq.nasa.gov/telerobotics-page/technologies/0524.html
www.jem.tksc.nasda.go.jp/iss/3a/orb_rms_e.html
production technology by R. K. Jain
introduction to space robotics by Alex Ellery
This ppt will give you information about space robotics, its applications and how much important role they are doing in day to day life viz; reducing human efforts,pick and place,marketing,etc.
Space robotics with examples , this ppt contains introduction of robot , structure of robot ,why space robot is necessary, challenges of space robots ,advantages & disadvantages of robots with example ..created by Sumera Hangi
humans are still involved and controlling the missions but without risking precious lives
in the long, maintaining robots, inanimate beings, in space is much easier and cheaper than living beings
robots have the capacity to be built to explore environments humans can’t
robots are faster and more efficient in observations and conclusions, they don’t need computers to certify information, they have it programmed… they’re brain and bulk in one lighter specimen
robots now have greater dexterity with new technologies that allow them to have greater dexterity than humans. This comes in handy when dealing with precious, rare space debris
CONS
sending robots into space doesn’t catch the public attention in the same way human exploration does
if something goes wrong in space and the robot’s system depletes, without a human it’ll take a lot to get the robot’s system rebooted again from Earth
don’t have human reasoning… they might do things and go places that are unknown and are a danger to them
REFERENCES
www.andrew.cmu.edu/~ycia/robot.html
www.space.mech.tohoku.ac.jp/research/overview/overview.html
www.nanier.hq.nasa.gov/telerobotics-page/technologies/0524.html
www.jem.tksc.nasda.go.jp/iss/3a/orb_rms_e.html
production technology by R. K. Jain
introduction to space robotics by Alex Ellery
This ppt will give you information about space robotics, its applications and how much important role they are doing in day to day life viz; reducing human efforts,pick and place,marketing,etc.
Space robotics with examples , this ppt contains introduction of robot , structure of robot ,why space robot is necessary, challenges of space robots ,advantages & disadvantages of robots with example ..created by Sumera Hangi
This presentation is about Robotics Technology. In this presentation, you know about the history of robots, types of robots, advanced robotics technology, application of robots, advantage dis advantage of robots.
about robotics with some introductory level information. This presentation can be used to address a group of people to evoke their interests in robotics.
this ppt contains the robots which are used in space for investigating nearby planets from earth itself, the mechanism used for these rover is rocker bogie mechanism, which has the advantage to overcome the giant rocks.
i used this presentation in my ICT project and i made the video that is in slide 5. it is on youtube and its URL ''http://www.youtube.com/watch?v=pRQmRPnUTHQ''. please like this video on youtube
This presentation is about Robotics Technology. In this presentation, you know about the history of robots, types of robots, advanced robotics technology, application of robots, advantage dis advantage of robots.
about robotics with some introductory level information. This presentation can be used to address a group of people to evoke their interests in robotics.
this ppt contains the robots which are used in space for investigating nearby planets from earth itself, the mechanism used for these rover is rocker bogie mechanism, which has the advantage to overcome the giant rocks.
i used this presentation in my ICT project and i made the video that is in slide 5. it is on youtube and its URL ''http://www.youtube.com/watch?v=pRQmRPnUTHQ''. please like this video on youtube
Valerie Varnuska, a resident of Westbury, NY, enjoys a wide range of extra-curricular activities from art and dance to astronomy and science. Valerie Varnuska developed an interest in robotics and takes great pleasure in watching robotic competitions on television.
Robots, Astronauts, and You: Exploring SpaceFlyingSinger
Blog: http://flyingsinger.blogspot.com
This is an all-ages presentation on the roles of robots and astronauts in space exploration and on how anyone can explore space with the help of a computer through web sites and free downloadable software such as Stellarium (planetarium program, www.stellarium.org) and Orbiter (space flight simulator, www.orbitersim.com). When I do this presentation, I typically present live demos of Orbiter and Stellarium, but I also have a number of supplemental slides at the end showing screen shots of the many things you can do with Orbiter.
I have presented this talk as a volunteer NASA/JPL Solar System Ambassador and as a member of the Aldrich Astronomical Society in Central Massachusetts.
Type of robot : Space robot
Name of robot : Curiosity
Mission type : Mars rover
Operator : NASA International team
COSPAR ID : 2011-070A
Website : mars.jpl.nasa.gov/msl/
Mission duration : 1416 days (as of June 22, 2016)
Manufacturer : JPL, Boeing, Lockheed Martin
Dry mass : 899 kg
Launch date : November 26, 2011, 15:02:00 UTC
Rocket : Atlas V 541 (AV-028)
Launch site : Cape Canaveral LC-41
Reference system : Heliocentric Orbit
Spacecraft component: Rover
Landing date : August 6, 2012, 05:17:57 UTC SCET
MSD 49269 05:53:28 AMT
Landing site : Aeolis Palus ("Bradbury Landing") in
Gale Crater (4.5895°S 137.4417°E)
In this paper with the reference of NASA’s MARS Curiosity Rover, this project is meant for a low cost, lightweight and small size unmanned ground vehicle (UGV) which is controlled by NI-myRIO a hardware component of National Instruments can be used for surveying and determining the natural conditions for living beings like identification of gases, collection of picture samples etc., It consists of six individual motors with lightweight chassis for achieving various movements of rover, gas sensors, camera with servos, long-lasting power supply with its required communication tools. The Six wheeled Rover with three or more suspension alignments will move and collect various samples for identification of gases and taking pictures around the astronomical areas automatically by the automated movements.
Exploration – One Year On
19 November 2008, Pasadena California
Session 6: Exploration – One Year On
19 November 2008, Pasadena California
http://www.astronautical.org/conference/conference-2008
1. 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
2. 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
3. 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
4. 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
5. 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:
Wednesday, August 10, 2016 SPACE ROBOTICS 5
6. HYBRID SYSTEMS (2000-??)
• FLOW CHART:
• The next generation of system is
called as probabilistic robots ,
which are under development and
research.
Wednesday, August 10, 2016 SPACE ROBOTICS 6
8. 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
Wednesday, August 10, 2016 SPACE ROBOTICS 8
9. 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
Wednesday, August 10, 2016 SPACE ROBOTICS 9
10. CHALLENGES IN DESIGNING
ZERO “g” EFFECT ON DESIGN
VACUUM THERMAL EFFECT
OTHERFACTORS
SPACE MODULAR MANIPULATORS
Wednesday, August 10, 2016 SPACE ROBOTICS 10
11. 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
Wednesday, August 10, 2016 SPACE ROBOTICS 11
12. 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
Wednesday, August 10, 2016 SPACE ROBOTICS 12
13. 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.
Wednesday, August 10, 2016 SPACE ROBOTICS 13
14. 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.
Wednesday, August 10, 2016 SPACE ROBOTICS 14
15. 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.
Wednesday, August 10, 2016 SPACE ROBOTICS 15
16. 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
Wednesday, August 10, 2016 SPACE ROBOTICS 16
17. STRUCTURE SPACE ROBOTS
A. JOINTS
B. ARM
C. WRIST
D. GRIPPER
Wednesday, August 10, 2016 SPACE ROBOTICS 17
18. 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
Wednesday, August 10, 2016 SPACE ROBOTICS 18
19. 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
Wednesday, August 10, 2016 SPACE ROBOTICS 19
20. 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
Wednesday, August 10, 2016 SPACE ROBOTICS 20
21. Free Flying Space Robots
Wednesday, August 10, 2016 SPACE ROBOTICS 21
22. Wednesday, August 10, 2016 SPACE ROBOTICS 22
SPACE STATION MOUNTED ROBOTS
JEMRMS SPDM
23. 1965 – First FLYBY (Mariner 4)
1971 – First ORBITER (Mariner 9)
1976 – First LANDER (Viking)
1997 – First ROVER (Sojourner)
Later Rovers
Opportunity (2004)
Curiosity (2012)
Wednesday, August 10, 2016 SPACE ROBOTICS 23
Mars Probe Highlights
24. Wednesday, August 10, 2016 SPACE ROBOTICS 24
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
26. 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.
Wednesday, August 10, 2016 SPACE ROBOTICS 26