Dynamic Response Characteristics of a Robotic Manipulator-Based Capture System Performing the Asteroid Redirect Mission

摘要

In March 2015 NASA chose the Asteroid Redirect Mission (ARM) concept B; retrieve a boulder from a large asteroid. ARM Concept B entails a Robotic Capture and Landing System (RCLS) for which multiple technology development options can be considered. The Human Robotic Systems (HRS) project is developing a Tendon-Actuated Lightweight Inspace MANipulator (TALISMAN) which can be used as a RCLS design in ARM. Previous work describes the mission sequence concept for an ARM Concept B RCLS using TALISMAN systems for the Asteroid Redirect Vehicle (ARV). This paper discusses proximity operations details of the Asteroid Redirect Vehicle ARV using a TALISMAN based RCLS. Here a vehicle dynamics model for the ARV is developed and the mission is simulated and analyzed. The ARV model includes a sub model of TALISMAN landing leg and grapple arm systems. The TALISMAN are modeled to include flexiblemulti body dynamics in order to calculate dynamic response characteristics and internal loads during ARM operations. The model development and modeling methodology, as well as the results of a dynamic analysis, proximity operations, and loads induced in TALISMAN components are presented here. The analysis results demonstrate feasibility of the TALISMAN design for ARM and verify the of performance capabilities of the TALISMAN RCLS systems during the mission.