A Scalable Tabletop Satellite Automation Testbed:Design And Experiments

INTRODUCTION The explosive growth of space technologies that are furthering the information age continue to elicit transformative advances that can chiefly be attributed largely to the inexpensive and reusable commercial launch capabilities. They form a basis for the space technology of the future, which include on-orbit servicing, assembling and manufacturing. Next generation space robotics technologies that focus on particular mechanisms and machines that are suitable for operations in micro and nano gravity environments form an important aspect of research. The confluence of advanced manufacturing technologies, novel materials, electronics and advanced computing architectures forms a fertile precursor for this research. One of the most versatile set of space mechanisms that can be a potential enabler are free-flying systems. Advances in CubeSat technology have continued to further the technology maturation of the free-flyer concept. Ground robotic platforms that focus on CubeSat technology enable accessible and low-cost spacecraft motion emulation solutions that contrast industrial and defense standards. The Land, Air, and Space Robotics (LASR) Laboratory at Texas A&M University has made significant contributions in the areas of dynamics, control and simulation of a Mobile Robotic System for 6-DOF Motion Emulation. The laboratory is home to a variety of robotic platforms that emulate satellite motions. One key robotic testbed is the Holonomic Omnidirectional Motion Emulation Robot (HOMER) that not only replaces air bearing tables for robotic proximity operation testing, but offers realistic 6-DOF motions to test sensors and actuators. The LASR Laboratory is now investigating the use of free-flying spacecraft modules in several different on-orbit, servicing and manufacturing (OSAM) activities as part of the Space University Research Initiative (SURI) funding opportunity awarded by the Air Force Office of Scientific Research to the "Breaking the'Launch Once, Use Once' Paradigm" Team, which consists of Carnegie Mellon University (CMU), University of New Mexico (UNM), Texas A&M University (TAMU), and the Northrop Grumman Corporation (NGC).