MORPHbots: Lightweight Modular Self-Reconfigurable Robotics for Space Assembly, Inspection, and Servicing

摘要

Under support from the Defense Advanced Research Projects Agency, the University of Maryland Space Systems Laboratory has been developing advanced miniaturized robotics for dexterous space operations. The final robotic architecture, now in prototype form, is a highly modular system capable of self-reconfiguration. These “MORPHbots” are composed of standardized actuator, sensor, and computational modules, interconnected by androgynous interface mechanisms capable of being actuated by the robots themselves. In a microsatellite configuration, a six degree-of-freedom serial manipulator with interchangeable end effectors has a total mass of only 10 kg, but is capable of performing assembly and servicing work typically performed by astronauts in pressure suits. Due to the modular nature of the system, a failed component can be easily removed and replaced with another unit, or the entire kinematics of the arm can be changed to better perform a given task. In a “depot” situation, a collection of MORPHbot components stocked on an orbital platform can be used to assemble a wide variety of robotic systems, optimized for specific operational requirements, such as structural assembly or satellite servicing. This paper presents the MORPHbot concept in detail, along with samples of MORPHbot configurations for specific missions such as a robotic servicer for International Space Station and a lowmass orbital assembly system for exploration vehicles or large aperture science platforms. Results of performance and environmental testing on prototype MORPHbot actuator modules will be given, along with plans for near-term ground-based tests of the concept in end-to-end high fidelity simulations.