Fully Modular Robotic Arm Architecture Utilizing Novel Multifunctional Space Interface

dc.contributor.authorZeis, C.
dc.contributor.authorde Alba-Padilla, C. A.
dc.contributor.authorSchroeder, K.-U.
dc.contributor.authorGrzesik, Benjamin
dc.contributor.authorStoll, Enrico
dc.date.accessioned2022-03-09T11:53:16Z
dc.date.available2022-03-09T11:53:16Z
dc.date.issued2022
dc.date.updated2022-02-25T23:00:58Z
dc.description.abstractThe current paradigm in space robotics is the design of specialized robotic manipulators to meet the requirements for a specific mission profile. This research aims to develop a novel concept of a modular robotic arm for multi-purpose and multi-mission use. The overall approach is based on a manipulator formed by serial connection of identical modules. Each module contains one rotational joint. The joints, rotation axis is tilted under an angle of 45° to the normal axis, which requires less stowage space compared to a traditional joint configuration. A manipulator can be reconfigured in orbit by adding or removing modules and end effectors, therefore modifying the degrees of freedom (DoF) as well as the workspace. Redundancies are introduced, since defect modules may be removed or replaced. This paper outlines the overall concept of modularization of a robotic arm. The development and mechanical design of a terrestrial demonstrator based on the multifunctional interface iSSI (intelligent Space System Interface) is presented, which is intended for OOS and OOA activities. Furthermore, a variant of the modular robotic system with 24 DoF is presented, which can be stowed in a Cubesat-sized environment. It can operate in spaces with limited accessibility and is dedicated for tasks like inspection and delicate repairs. Finally, an outlook to further research potential and future use cases for the modular robotic system is given.en
dc.description.sponsorshipBMWi, 50RP1960A, Verbundvorhaben HOMER: Hoch-redundante modulare Robotersysteme zum flexiblen Einsatz in der Raumfahrt und der Automotive-Serienfertigung; Teilvorhaben Kinematik und Redundanzen
dc.description.sponsorshipBMWi, 50RP1960B, Verbundvorhaben: HOMER - Hoch-redundante modulare Robotersysteme zum flexiblen Einsatz in der Raumfahrt und der Automotive-Serienfertigung; Teilvorhaben: modulare Robotikstrukturenen
dc.identifier.eissn1757-899X
dc.identifier.issn1757-8981
dc.identifier.urihttps://depositonce.tu-berlin.de/handle/11303/16518
dc.identifier.urihttp://dx.doi.org/10.14279/depositonce-15295
dc.language.isoenen
dc.rights.urihttps://creativecommons.org/licenses/by/3.0/en
dc.subject.ddc530 Physikde
dc.subject.othermultifunctional space interfaceen
dc.subject.otherrobotic arm architectureen
dc.subject.otherspace roboticsen
dc.subject.othermanipulatorsen
dc.titleFully Modular Robotic Arm Architecture Utilizing Novel Multifunctional Space Interfaceen
dc.typeArticleen
dc.type.versionpublishedVersionen
dcterms.bibliographicCitation.articlenumber012096en
dcterms.bibliographicCitation.doi10.1088/1757-899X/1226/1/012096en
dcterms.bibliographicCitation.issue1en
dcterms.bibliographicCitation.journaltitleIOP Conference Series: Materials Science and Engineeringen
dcterms.bibliographicCitation.originalpublishernameIOPen
dcterms.bibliographicCitation.originalpublisherplaceBristolen
dcterms.bibliographicCitation.volume1226en
tub.accessrights.dnbfreeen
tub.affiliationFak. 5 Verkehrs- und Maschinensysteme>Inst. Luft- und Raumfahrt>FG Raumfahrttechnikde
tub.affiliation.facultyFak. 5 Verkehrs- und Maschinensystemede
tub.affiliation.groupFG Raumfahrttechnikde
tub.affiliation.instituteInst. Luft- und Raumfahrtde
tub.publisher.universityorinstitutionTechnische Universität Berlinen
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