Impact Modeling and Estimation for Multi-Arm Space Robot while Capturing Tumbling Orbiting Objects (Record no. 14690)

MARC details
000 -LEADER
fixed length control field 02886nam a22001697a 4500
082 ## - DEWEY DECIMAL CLASSIFICATION NUMBER
Classification number 629.47
Item number R154I
100 ## - MAIN ENTRY--AUTHOR NAME
Personal name Raina, Deepak
245 ## - TITLE STATEMENT
Title Impact Modeling and Estimation for Multi-Arm Space Robot while Capturing Tumbling Orbiting Objects
Statement of responsibility, etc by Deepak Raina
260 ## - PUBLICATION, DISTRIBUTION, ETC. (IMPRINT)
Place of publication IIT Jodhpur
Name of publisher Department of Mechanical Engineering
Year of publication 2017
300 ## - PHYSICAL DESCRIPTION
Number of Pages xiii,62p.
Other physical details HB
520 ## - SUMMARY, ETC.
Summary, etc "Autonomous on-orbit services, such as capturing, refueling, and repair and refurbishment<br/>of an on-orbit satellite using a robot mounted on service satellite, will be one of the important<br/>components of the space missions in future. The main objective of capturing faulty satellites/debris<br/>is to avoid their possible collision with a working satellite in the same orbit. Use of space robots<br/>boosts the reliability, safety, and ease of execution of operations. Driven by this motivation, an<br/>attempt has been made in this work to develop a framework for impact modeling of a multi-arm<br/>robotic system mounted on a servicing satellite while the capture of tumbling orbiting objects. A<br/>robotic system with multiple arms would be capable of capturing multiple objects simultaneously.<br/>Further, when the satellite is in broken state or does not have provision for grapple and tumbling,<br/>the interception is very difficult. In such cases, interception using multi-arm robotic system can<br/>be appealing as this will increase the probability of grasp in comparison to the single-arm robot.<br/>In this work, three phases of the capturing operation, namely, approach, impact, and post-impact<br/>have been modeled. In the approach phase, the robot is traveled from its initial configuration to the<br/>desired configuration. It is essential that at the time of interception the velocity of the end-effector<br/>should be equal to that of the point to be grasped in order to avoid any impact. Hence, the main<br/>objective in approach phase is to move end-effector from point-to-point with desired final velocity.<br/>But in practice, there will be a non-zero relative velocity between the end-effector and the grapple<br/>point, leading to an impact. In the impact phase, a framework is developed to estimate the changes<br/>in the generalized velocities caused by the impact. In post-impact phase, these velocities are used as<br/>an initial condition for the post impact dynamics simulations. Efficacy of the framework is shown<br/>using a dual-arm robot mounted on a servicing satellite performing capturing operation for two<br/>objects, in the case of open-loop impact and for the single object, in the case of closed-loop impact.<br/>The effects of relative velocity and angle of approach on the impact forces have been investigated.<br/>i"<br/>
650 ## - SUBJECT ADDED ENTRY--TOPICAL TERM
Topical Term Impact Modeling and Estimation
Topical Term MTech Theses
Topical Term Department of Mechanical Engineering
700 ## - ADDED ENTRY--PERSONAL NAME
Personal name Shah, Vijay Kumar
942 ## - ADDED ENTRY ELEMENTS (KOHA)
Koha item type Thesis
Holdings
Withdrawn status Lost status Damaged status Not for loan Collection code Permanent Location Current Location Shelving location Date acquired Full call number Accession Number Price effective from Koha item type
      Not For Loan Reference S. R. Ranganathan Learning Hub S. R. Ranganathan Learning Hub Course Reserve 2024-01-18 629.47 R154I TM00113 2024-01-18 Thesis