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Development of Robotic Servicing Technology
Team 1:
Development of Robotic Servicing Technology
Principal Investigator: Richard Fink, Code 442
Abstract:
Unmanned robotic servicing of the Hubble Space Telescope has become a recent
topic of interest at NASA Goddard. Student researchers will take part in research
and development related to the Hubble Space Telescope (HST) robotic servicing
mission. The first task will be the evaluation of the mechanical properties
and functionality of a Dexterous Manipulator end-effector commonly referred
to as an ORU Tool Change-Out Mechanism (OTCM). The next task will be the development
of a simulator for determining the force contact dynamics and compliance of
the robotic servicing platform using a Fanuc 430iF industrial robot. These tasks
will necessitate the creation of a robotic test bed and an evaluation of the
end-effector/OTCM. In addition, research will be conducted on force/moment sensors
and their use in compliance applications. Modeling software (e.g. IGRIP) and
systems engineering tools (e.g. CORE) will be used to design the industrial
robot workspace. Research on prior projects in compliance with robotic arms
will be conducted and applied to an existing controller interface formerly used
for a similar project. Software will be written in C++ using Qt, a cross-platform
Graphical User Interface (GUI) tool.
Team Lead: Kristina
Rohlin
Research Associates: Alexander
May, Kevin Reilly,
Jeremy Swindell
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