EUROBOT EVA-assistant robot for ISS
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1 In the proceedings of the 8th ESA Workshop on Advanced Space Technologies for Robotics and Automation 'ASTRA 2004' ESTEC, Noordwijk, The Netherlands, November 2-4, 2004 EUROBOT EVA-assistant robot for ISS Ph. Schoonejans, F. Didot, R. Stott, A. Jain (ESA) D. Buffa, R. Boaretto, (Alenia Spazio) C. Heemskerk (Dutch Space) 1 1
2 Presentation Overview EUROBOT Mission Objectives & Task Requirements Modes of Operation System Breakdown Mobile Segment Configurations Under Trade-Off Tools Panoply ORU & I/F Panoply Home Base Life after ISS applications for Exploration Project Schedule Conclusion 2 2
3 Objectives EUROBOT Motivations: Reduce the amount of crew time required for ISS external maintenance Reduce EVA sortie duration & numbers Surgical model: human = surgeon, Eurobot = nurse EUROBOT Tasks Requirements: EVA worksite preparation & closing tasks (2 EVAs in 1) EVA co-operative task (2 EVAs in 1) EVA sortie substitute: Orbital Replacement Unit (ORU) installation / exchange Payload servicing/ maintenance 3 3
4 Tasks Requirements Deployment from Home-Base Locomotion & Transportation self-relocate to specified location (using handrails & / or other standard external ISS I/Fs) TRANSPORT ORU/ payload (hold in 1 hand) while relocating Prepare EVA worksite Support EVA sortie (lighting worksite, monitoring, temporary stowage for ORUs, tools ) Close-up inspection and monitoring Safing / Keep-Alive / Maintenance RECHARGE at Home-Base docking station enter SAFE / STAND-BY / DORMANT state (stand-by & dormant at docking station) 4 4
5 Modes of Operation Modes of Operation: Autonomous for all well structured/ repeatable/ tasks such as: Deployment, locomotion & transportation to worksite Worksite preparation prior to EVA sortie: foot-restraint installation, camera / lighting set-up, carrying tools-set EVR compatible ORUs exchange Manual for less structured/ predictable tasks: EVA/ EUROBOT choreography while at worksite Local inspection for troubleshooting 5 5
6 System Breakdown EUROBOT Flight Segment ISS Station Mobile Segment System Dociking Station System IVA Crew Operator Station System Flight Suport Equipment System Gd Station MCC EUROBOT Ground Segment Monitoring & Command Station System Training, Operations Support & Simulation System WET Model System Maintenance & Verifcation incl. 1g Model (TBC) System 6 6
7 System Configuration Trade-off ongoing for different configurations Key issues Large number of handling I/Fs to deal with Large number of actuation I/Fs to deal with Difficult to choose between many configuration options Home base location Charging station (TBC) location(s) Wireless communications Thermal Constraints Ingress/egress through airlock 7 7
8 Initial ESA Baseline Configuration Front view One central cylindrical body with two rotating caps Back view Front cap (Head) is equipped with camera and lighting unit Three identical limbs (arms / legs) with 7 joints Back cap (Tool Backpack) holds end effectors / tools 8 8
9 Configuration-1 Under Trade 3 identical arms of 1 meter each Each arm with 7 d.o.f Symmetrically mounted at 120 degrees around the body Initial PRR configuration 9 9
10 Configuration-2 Under Trade 3 identical arms of 1 meter each Each arm with 7 d.o.f, with camera & lighting Symmetrically at 120 degrees around the body Set of cameras mounted (2 mono or 1 stereo) on pan & tilt unit on central body (not visible in picture) 10 10
11 Configuration-2 Under Trade EUROBOT size/reach compared to EVA 11 11
12 Configuration-3 Under Trade 2 identical arms of 1 meter each 1 stronger leg arm Each arm with 7 d.o.f 2 arms symmetrically mounted 2 cameras mounted on central body, on pan & tilt unit 12 12
13 Configuration-4 Under Trade Identical arms of 1 meter each 1 stronger leg arm Each arm with 7 d.o.f 2 symmetrically mounted arms Same concept as 3- but different head and arms 13 13
14 Configuration-5 Under Trade Identical arms of 1 meter each Each arm with 7 d.o.f 2 symmetrically mounted arms Camera on top End effector storage on belly Removable battery 14 14
15 Configuration-5 Under Trade 15 15
16 Configuration-5 at work on Columbus-EPF 16 16
17 Stepping over Columbus-Node
18 Tools Panoply Hand-Rail End-Effector Robotic I/F End-Effector General Gripper End-Effector Multi-Tool End-Effector Specific Operation End-Effector 18 18
19 ORU Panoply in Brief Example: US segment alone has large quantity of EVR ORUs (~300 already)
20 ORU Panoply: from Small (~1 kg) to Large (max 362 kg) ORUs 20 20
21 I/F Panoply H-Fixture Micro Square Micro Conical US-Segment Dog Bone RS Square 21 21
22 Home Base Concept ExPA positions on ISS truss UCP position on US airlock EUROBOT platform position on US trunnion 22 ExPA Adapter on Columbus EPF EUROBOT platform position on Columbus trunnion 22
23 Home Base Concept Placement of the home base on ISS Deploy Dedicated Eurobot homebase platform mounted to a Columbus trunnion (TBC) Eurobot homebase mounted to EPF (TBC) 23 23
24 Life After ISS Humans will move beyond Earth orbit back to the Moon & on to Mars Mobile manipulator technologies developed for EUROBOT project may be applied & developed further for Exploration programme Technologies used both in early robotic missions & later human missions Human missions may benefit from dedicated Mobile Manipulator System (MMS) in the role of EVA crew assistant 24 24
25 Manipulators in Space Exploration Phase Robotic Exploration Human Arrival Imminent Human Arrival Long-Term Presence Space Environment Earth orbit Interplanetary Space Moon/Mars orbit Test robotic/mms technology & operations in LEO or on ISS On MSR mission, use for sample handover from ascent vehicle to Earth-return vehicle Test robotic/mms technology & operations in LEO or on ISS Maintenance of human mission modules sent in advance of human arrival Use during potential on-orbit assembly of human mission modules Transfer vehicle maintenance; crew assistant Orbit vehicle maintenance; crew assistant Use during potential on-orbit assembly of human mission modules Transfer vehicle maintenance; crew assistant Orbit vehicle maintenance; crew assistant 25 25
26 Manipulators on Moon/Mars Surface Planetary Science Surface characterisation experiments Sample handling* Imaging Astrobiology experiments (search for life) Telescope/observatory operation Characterise surfaceatmosphere interactions Determine process of regolith formation & subsequent weathering Determine processes controlling distributions of dust, water, CO2 by determining long & short term events Site Scouting & Characterisation Imaging/mapping Travel to/through hostile terrain Mobile "weather" station Search for micro-climates, eg thru changes in volatiles Determine present state, 3D distribution and cycling of water Sample handling Surface characterisation experiments (Electromechanical/engineering properties) Ionising radiation surface & shielding properties of the soil (& Martian atmosphere) Determine chemical & toxilogical properties of surface materials Measure atmospheric parameters & variations that effect surface systems (eg boundary layer) Determine electrical effects of atmosphere (Mars) Site Preparation & Infrastructure Deployment Clearing landing site? Deployment of solar arrays Deployment & check-out of nuclear power systems Deployment & check-out of ISRU units Help make Lunar/Martian concrete/cement Infrastructure Operation & Maintenance Operation & inspection of ISRU systems Inspection & monitoring of propellant & consumables storage tanks Inspection of nuclear facility Inspection of site damage after storm NDI (Non-destructive Inspection) type testing of structures Maintenance of solar arrays (eg wrt dust etc) Required Capabilities: Instrument deployment & positioning Soil manipulation Science sample handling (acquiring, transferring, delivering & analysing) Object & parts handling Mechanism actuation Tools handling and manipulation Imaging Interface with surface systems, payloads & crew 26 EVA Support Carry tools and hand them to astronauts "Eyes" for IVA astronaut Emergency / back-up comms station Additional / mobile comms relay station Sample handling* Robotic cameraman / journalist Mobile computer / reference manual "Record" EVA sessions ("diary-keeper") Deployable navigation aid / emergency beacon Additional/emergency lighting "Fetch & carry" Emergency re-charge station for PLSS? IVA Support Routine greenhouse operations Process plants into ingredients Telemedicine? 26
27 KO : April 04 Eurobot Study KO Phase A Full Eurobot Branch Feasibility Developme nt Plan Identification Of Demonstrator Feasibility Demonstrator Branch PRR/dPRR: Mid Nov 04 PRR Phase B1 Preliminary Definition Preliminary Definition SRR: Feb 2005 SRR PDR: Jun 2005 PR: Jun 2005 input for C/Min Phase B2 Detailed Definition PDR 27 Programmatic Review 27
28 Conclusion Eurobot presents a robotic solution to problems of EVA crew availability and hostile environments ESA robotics studies harmonised to focus in same direction (arm/leg, hand, teleops, MMI) Study aimed at getting a flight demonstrator on ISS before end of this decade 28 28
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