Simulation analysis of a tethered space robot for space experiment on sounding rocket by JAXA/ISAS

Abstract

This paper describes simulation analysis of a tethered robot for space experiment on the sounding rocket “S-520.” The tethered space robot is a new type of space robot connected to tether. The major advantage of the tethered space robot is that its attitude can be controlled under tether tension by its own link motion. The S-520 rocket rotates at 1Hz about the longitudinal axis, and performs tumbling within 10 degrees. Many times of microgravity experiment for a tethered space robot have been performed by parabolic flight by an airplane and by a drop capsule. However, a deployer for a tethered space robot may perform tumbling motion in practical mission. Due to limitation of time and space at microgravity experiment on the ground, verification and evaluation of motion analysis for a tethered space robot under tumbling condition are impossible. This paper describes simulation analysis and microgravity experiment in parabolic flight by an airplane, for S-520 experiment. The simulation analysis has evaluated influences of the rotation about the longitudinal axis of the rocket. The microgravity experiment confirmed the deployment sequence for the S-520 rocket experiment.