Intelligent Mobile Systems for Assembly, Maintenance and Operations for Space Solar Power

摘要

NASA has been commissioned to investigate the feasibility of an orbiting Space Solar Power (SSP)system that is capable of generating power from space and transmitting the power to earth based rectennas. The structures for these systems would be large (1 km and greater) and would require robotic assembly, maintenance and operations. The robotic and autonomous operations required for SSP can be divided into three main areas: 1) initial assembly of the transmitter array and the photovoltaic power subsystem, 2) initial inspection of the assembled structure to determine that the assembly process has been correctly conducted and continued inspection of the system to evaluate its integrity and functionality, and 3) maintenance and repair of transmitter elements or tiles and the photovoltaic power subsystem. Due to the wide spectrum of the required operations, no single robotic system will suffice. Variation in robot design will be dictated both by the type of work performed, as well as the system's location relative to the SSP platform. For example, a heavy OMV hauler may be necessary to move large components into position, while a small legged robot may be needed to crawl into tight spaces for inspection and maintenance. However, the total number of unique systems can be reduced through reconfigurability of those systems. In the case of the small inspection/maintenance robot, the ability to freely switch end-effector tools would be invaulable. This paper will discuss design options and the technology development needs for the Space Solar Power system, after a brief introduction to some of the basic system configurations.