HETEROGENEOUS ROBOTIC SYSTEMS FOR ASSEMBLY AND SERVICING

摘要

NASA’s Vision for Space Exploration calls for an extended human presence in space and development of large-scale orbital structures. To reduce risk, it is essential to minimize astronaut exposure by limiting EVA and providing habitat infrastructure prior to arrival. Efficient assembly of space structures requires autonomous robotic teams with only high-level human supervision. Tasks will include component transport, precision component mating, structure inspection and analysis, and site surveying and clearing for surface structures. JPL is developing many of the required technologies for assembly and servicing to determine the challenges and required capabilities and to produce flight-relevant prototypes for maturing and testing these technologies in space-relevant environments.