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Deployers for nanosatellites

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Presentation for Summer Space School, Samara, Russia.

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Deployers for nanosatellites

  1. 1. Deployers for nanosatellites XII Summer Space School, Samara University, 2016
  2. 2. Outline • •Kinematics & • XII Summer Space School, Samara, 2016 2
  3. 3. CubeSat Deployers P-POD, ISI-POD, X-POD, NANORACKS, RSC-POD, CSD XII Summer Space School, Samara, 2016 3
  4. 4. CubeSat Deployer isolates installed CubeSat Satellite from the launch vehicle and the main payload Cubesat Deployer Access ports Door spring Door XII Summer Space School, Samara, 2016 4 Body (tube) providing a Faraday cage Guide rails
  5. 5. Deployer TYPE per year 0 20 40 60 80 100 120 2002 2003 2004 2005 2006 2007 2008 2009 2010 2011 2012 2013 2014 2015 J-SSOD J-POD T-POD P-POD SSPL X-POD ISI-POD CDS NRCSD PSL Source: https://sites.google.com/a/slu.edu/swartwout/home/cubesat-database XII Summer Space School, Samara, 2016 5
  6. 6. • • • • P-POD XII Summer Space School, Samara, 2016 6
  7. 7. • • • X-POD XII Summer Space School, Samara, 2016 7
  8. 8. •Modular design •1U, 2U, 3U versions •Resettable and reusable electrical actuator •Extra large available envelope: 9 mm on each side ISI-POD ImageSource: https://www.flickr.com/photos/nasa2explore/14995539561 XII Summer Space School, Samara, 2016 8
  9. 9. •NRCSD is capable of holding six CubeSat Units •Access for Remove Before Flight pins and charging systems is provided through access panels located on the topside of the NRCSD NanoRacks DEPLOYER ImageSource: https://www.flickr.com/photos/nasa2explore/14995539561 XII Summer Space School, Samara, 2016 9 UAPSat ArduSat-2 SkyCube LitSat-1 LituanicaSAT-1
  10. 10. •NRCSD is moved outside via the Airlock of Kibo module • NanoRacks DEPLOYER ImageSource: https://www.flickr.com/photos/nasa2explore/14995539561 XII Summer Space School, Samara, 2016 10
  11. 11. • • SRC-POD SamSat-218D Imageby Dmitri Zaretskiy XII Summer Space School, Samara, 2016 11
  12. 12. • •Pushing platform SRC-POD XII Summer Space School, Samara, 2016 12Imageby Dmitri Zaretskiy SamSat-218D
  13. 13. •There has been an increasing demand for a larger satellite standard within the community •6U CubeSat Design Specification Rev. PROVISIONAL (May 2016) •The maximum mass of a 6U CubeSat shall be 12 kg XII Summer Space School, Samara, 2016 13 6U Specification
  14. 14. TYVAK (USA) •Based on NASA NLAS Mk. I •Carry 6U = 3U+3U = 6x1U •Single door or two doors configuration •Optional electrical interface to payload through back plate •Pin-puller release mechanism XII Summer Space School, Samara, 2016 14 NLAS Mk. II Tyvak Nanosatellite Launch Adapter System (NLAS) Mk. II User Guide
  15. 15. Advanced CSD Canisterized satellite dispenser (CSD) by •Patent US 20140319283 A1 •3U, 6U, 12U, 27U sizes •2 kg per U mass capability •The CSD can be mounted at any surface XII Summer Space School, Samara, 2016 15
  16. 16. Advanced CSD • Satellites includes tabs on a low portion • The act of closing its door preloads the payload tabs that secured the satellite during transport and launch • • Constant dispensing force XII Summer Space School, Samara, 2016 16
  17. 17. Deployment DYNAMICS What angular rate should we expect? XII Summer Space School, Samara, 2016 17
  18. 18. • • QUESTIONS Image source: https://www.flickr.com/photos/nasa2explore/12617180255 XII Summer Space School, Samara, 2016 18
  19. 19. • •Properties of the deployer •Properties of the CubeSat • What Affect the CubeSat Tip-OFF Rate? XII Summer Space School, Samara, 2016 19
  20. 20. • 𝑐 = (𝑃0 − 𝑃𝑒)/ℎ • 𝑚 – CubeSat + platform mass [kg] 𝑃0 – main spring preload [N] 𝑐 – main spring stiffness [N/m] ℎ – spring stroke [m] CubeSat Translational Motion XII Summer Space School, Samara, 2016 20 1 2
  21. 21. Initial conditions Position 𝑧 = 𝑃0 1 − cos 𝑘 𝑡 /𝑐 Velocity Deploying velocity 𝑾 is the spring energy CubeSat Translational Motion XII Summer Space School, Samara, 2016 21 1 2 3
  22. 22. •3U CubeSat •m = 3 kg •P0 = 8 N, c = 23.3 N/m •h = 0.340 m •Spring energy W ≈ 1.4 J •th≈ 0.5 s, V ≈ 1 m/s •a < 2.7 m/s2 XII Summer Space School, Samara, 2016 22 CubeSat Translational Motion
  23. 23. Kinematics model XII Summer Space School, Samara, 2016 23
  24. 24. Constraints equations 24
  25. 25. ANGULAR MOTION: Kinematics XII Summer Space School, Samara, 2016 25
  26. 26. ANGULAR MOTION: Kinematics XII Summer Space School, Samara, 2016 26
  27. 27. ANGULAR MOTION: Kinematics 27
  28. 28. •CubeSat width •Gap •Velocity 3U CubeSat XII Summer Space School, Samara, 2016 28
  29. 29. Kinematic estimation for •CubeSat width •Gap •Velocity XII Summer Space School, Samara, 2016 29 1U CubeSat
  30. 30. If zA= H then For 𝑉 𝐴 = 1 m/s, 𝑤 = 0.1 m and 𝛿 = 0.5 mm we get and 𝑅 𝐷 < 0 (impossible) XII Summer Space School, Samara, 2016 30 Limitations of THE kinematicS model 1
  31. 31. 𝑚 𝑧ሷ = 𝐹𝑧 + 𝑅D sin 𝜑 𝑚 𝑥ሷ = 𝐹𝑥 − 𝑅D cos 𝜑 + 𝑅A 𝐽 𝜑ሷ = 𝐹𝑧𝑏 𝑥 𝑐 − 𝐹𝑦𝑏 𝑧 𝑐 − 𝑅D 𝐵𝐷 − 𝑧 𝑐 Dynamic equations XII Summer Space School, Samara, 2016 31
  32. 32. Constraint equation for A Constraint equation for XD Constraints EQUATIONS XII Summer Space School, Samara, 2016 32
  33. 33. Reaction forces XII Summer Space School, Samara, 2016 33 𝐹 > 0 • 𝑅 𝐴 > 0, 𝑅 𝐷 > 0 • 𝑅 𝐴 > 0, 𝑅 𝐷 = 0
  34. 34. Simulation results XII Summer Space School, Samara, 2016 34
  35. 35. Effects of the parameters •Spring Stroke •Clearance between guiding rails CUBESAT PARAMETERS • +Z CM position • +XY CM position XII Summer Space School, Samara, 2016 35
  36. 36. 1U: Center of Mass position XII Summer Space School, Samara, 2016 36
  37. 37. •1U m=1 kg, V=1 m/s, δ = 0.5 mm ωmax = 45 °/s •3U m=3 kg, V=1 m/s, δ = 0.5 mm ωmax = 6 °/s •The tip-off rate increases with the shifting of the CM to the pusher plate. 3U: Center of Mass position XII Summer Space School, Samara, 2016 37
  38. 38. 1U: CLEARANCE BETWEEN GUIDING RAILS XII Summer Space School, Samara, 2016 38
  39. 39. 1U: Spring Stroke XII Summer Space School, Samara, 2016 39
  40. 40. •1U hp=113 mm: ωmax= 40 °/s hp= 50 mm: ωmax< 10 °/s •3U hp=340 mm: ωmax= 5 °/s hp=200 mm: ωmax< 2 °/s 3U: Spring Stroke XII Summer Space School, Samara, 2016 40
  41. 41. •Parametric model for CubeSats of any size •MSC.ADAMS CONTACT FORCES simulate contacts of CubeSat with the guide rails •An arbitrary motion of the deployer can be taken into account MSC.ADAMS Model XII Summer Space School, Samara, 2016 41
  42. 42. 1U: hp=110 mm XII Summer Space School, Samara, 2016 42
  43. 43. 1U: hp=50 mm XII Summer Space School, Samara, 2016 43
  44. 44. 3U: hp=340 mm XII Summer Space School, Samara, 2016 44
  45. 45. 3U: hp=220 mm XII Summer Space School, Samara, 2016 45
  46. 46. MSC.ADAMS simulation results XII Summer Space School, Samara, 2016 46 Plate stop Spring plate
  47. 47. Experiments and Flight Tests XII Summer Space School, Samara, 2016 47
  48. 48. •In 2014 PSC performed series of tests in reduced gravity environment •Rotation rates and velocity of 3U and 6U payloads as a function of dispensing from CSD are measured MICRO-GRAVITY FLIGHT XII Summer Space School, Samara, 2016 48 Source: F. Azure, R. Hevner, and S. Spring, “Lessons learned measuring 3U and 6U payload rotationand velocity when dispensed in reduced gravity environment” Cubesat Developers ConferenceSan Luis Obispo, CA. 2015. https://youtu.be/0MCJWuBLyv4?list=PLXWVQCV1tdCX6z3r0RL7iQy7ZrcV77rws
  49. 49. Rotation RATES XII Summer Space School, Samara, 2016 49 •Rotation rates of 3U CubeSat along any axis are less than 10 o/s (excluding 1 experiment) •Rotation rates of 6U CubeSat along any axis are less than 10 o/s Source: http://www.planetarysystemscorp.com (CSD-Data-Sheet.pdf) 3U 6U +10 +10 -10 -10
  50. 50. The angular velocities are measured using 4 laser triangulation sensors handling the increasing difference between readings of the sensors RSC-POD Ground Experiment XII Summer Space School, Samara, 2016 50
  51. 51. •Maximum angular velocity for CM shifted to 15 mm from axis of symmetry 𝜔 ≤ 10 𝑜/s •Median value 𝜔 ≈ 3 𝑜/s SRC-POD Ground Experiment XII Summer Space School, Samara, 2016 51
  52. 52. XII Summer Space School, Samara, 2016 52 On-orbit ANGULAR rate CubeSat Deployer deg/s LightSail P-POD 7 CanX-2 X-POD 3…5 AISSat-1 X-POD 6 UNIBRITE X-POD 8…9 QB50 req. ISI-POD < 50
  53. 53. 28 APRIL 2016 •First Launch from the new spaceport Vostochny •Main Payload: • Lomonosov satellite • Aist-2D •Piggyback payload: • SamSat-218D SRC-POD FLIGHT TEST XII Summer Space School, Samara, 2016 53
  54. 54. •Lomonosov and Aist-2D satellites delivers first scientific results and images •Telemetry data indicated that SamSat-218D successfully deployed from RSC-POD, but no signal has been received yet Mission Status XII Summer Space School, Samara, 2016 54
  55. 55. Conclusion •The simulation results suggest that the angular rate of 1U CubeSats after deployment can reach 50 o/s •The simulation results, experimental data show that the angular rate of 3U CubeSat is less than 10 o/s •The angular rate noticeably depends on the CM position of the CubeSat and the motion of the pusher plate of the deployer. XII Summer Space School, Samara, 2016 55

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