Elastically Actuated Small Robotic Arm for CubeSat Platforms

摘要

View Video Presentation: https://doi.org/10.2514/6.2021-4168.vid Many space operations have benefited from the assistance of robotic systems to some extent, from manipulation to docking. The limit of support from these robots is determined by either their size, range of motion, mobility, tools of operation, and many other considerable factors. Maintenance or Extra-Vehicular Activities (EVAs) are performed mainly through astronauts or robots like the Shuttle Remote Manipulator System (SRMS). As tasks get more complicated, these robotic systems need upgrades or simply cannot execute the tasks at hand due to their current limitations, and astronauts take considerable risks at performing them instead. A CubeSat with the right propulsion system is a mobile system with the potential to move freely anywhere around a space station. Equipped with a robotic system capable of performing a specific task such as extruding a repairing agent for damaged solar panels or manipulating standard tools, the CubeSat becomes a potential tool for astronauts to facilitate or even substitute spacewalks to some extent. This paper presents the design and development of a three DOF (Degrees of Freedom) small robotic arm for CubeSat platforms with elastic actuators to have a compliant behavior when interacting with the environment. The robotic structure has been 3D-printed and the actuation systems include DC motors and elastic actuators. An electronic payload board was also designed using CubeSat Standards to control the robot, which design and development is also shown in this paper. This paper shows the development and integration of the robotic platform.