Improving the free-floater space robot simulator for intervention missions

摘要

The increasing application of robots in hazardous space environments and in support of extra vehicular activities has drawn attention to problems related with robust and safe application of free flyer space robots. As a key point in addressing these topics CISAS has since 1996 worked on the development and construction of free floating robots to be used in laboratory tests under micro gravity conditions. The free floater robot architecture is composed by two main parts: the floating base, that is free to move and rotate on a plane, and an anthropomorphic manipulator with three degrees of freedom, connected to the base. The two dimensional micro gravity condition is achieved by means of low pressure air bearings, that are located under the robot and allow it to float over a low roughness, high planarity granite table. Friction reduction is so effective that residual disturbing accelerations in the order of 10 -5