document title / titre du document TRP W ORK PLAN ... - emits - ESA
document title / titre du document TRP W ORK PLAN ... - emits - ESA
document title / titre du document TRP W ORK PLAN ... - emits - ESA
You also want an ePaper? Increase the reach of your titles
YUMPU automatically turns print PDFs into web optimized ePapers that Google loves.
<strong>TRP</strong> Work Plan 2005-2007<br />
Description of Activities<br />
TEC-SB/7935/dc<br />
12/Feb/09<br />
3.2.1 - Automation & Robotics (Source: <strong>TRP</strong> 2000-2003)<br />
<strong>TRP</strong> Reference:<br />
MMA-622<br />
Title: Dextrous Robot System - Phase 1&2<br />
This activity shall develop a scalable medium-size lightweight dextrous robot arm for external space manipulation applications<br />
to the level of a demonstrator with completely flight qualifiable design. This shall be suitable for being complemented with<br />
more dedicated sub-system developments under GSTP or a similar programme, and for customisation and full qualification<br />
testing by user programmes.<br />
Innovative approaches and technologies shall be exploited to drastically minimise mass and power consumption while<br />
providing adequate force capability and repeatability. A target is to achieve a flight model design of an arm with full joints<br />
instrumentation and harness, with a 1 g payload capacity of 10 kg, within a total mass of 20 kg.<br />
Interface compatibility with existing other building blocks of space robot arm systems (e.g. on-board controller and avionics)<br />
shall be observed.<br />
The activity shall include the following phases:<br />
1. Phase 1 (200 kEuros): System-level requirements analysis and definition, kinematics / structural / thermal / dynamic /<br />
control analyses, system architectural design and specification of requirements for sub-systems (joints, limbs structure, end<br />
effector, latching, ground support equipment).<br />
2. Phase 2 (500 kEuros): Evaluation and trade-off of radically different design concepts for low-power compact space robot<br />
joints according to the requirements established before. Detailed design, development, manufacturing and test of one joint<br />
demonstrator.<br />
3. Phase 3 (1300 kEuros): Upon possible design iterations based on the unit test results from Phase 2, development and<br />
manufacturing of a total of 7 similar joints. Integration in a dextrous robot arm system testbed, demonstration by system-level<br />
testing.<br />
Deliverables:<br />
Technical Note. System design and Requirements definition. Joint demonstrator (design, manufacturing and testing). 7 joints<br />
development, manufacturing, integration and testing in a dedicated test-bed.<br />
Current TRL: TRL1 Target TRL: TRL3 Application Need/Date: TRL5 by 2010-2012<br />
Application/Mission: exploration missions Contract Duration: 12 months<br />
SW Clause : - Dossier0 Ref.: T-1<br />
Consistency with Harmonisation<br />
Roadmap and Conclusions:<br />
<strong>TRP</strong> Reference:<br />
Title: Dextrous Robot System - Phase 3<br />
This activity shall develop a scalable medium-size lightweight dextrous robot arm for external space manipulation applications<br />
to the level of a demonstrator with completely flight qualifiable design. This shall be suitable for being complemented with<br />
more dedicated sub-system developments under GSTP or a similar programme, and for customisation and full qualification<br />
testing by user programmes.<br />
Innovative approaches and technologies shall be exploited to drastically minimise mass and power consumption while<br />
providing adequate force capability and repeatability. A target is to achieve a flight model design of an arm with full joints<br />
instrumentation and harness, with a 1 g payload capacity of 10 kg, within a total mass of 20 kg.<br />
Interface compatibility with existing other building blocks of space robot arm systems (e.g. on-board controller and avionics)<br />
shall be observed.<br />
The activity shall include the following phases:<br />
1. Phase 1 (200 kEuros): System-level requirements analysis and definition, kinematics / structural / thermal / dynamic /<br />
control analyses, system architectural design and specification of requirements for sub-systems (joints, limbs structure, end<br />
effector, latching, ground support equipment).<br />
2. Phase 2 (500 kEuros): Evaluation and trade-off of radically different design concepts for low-power compact space robot<br />
joints according to the requirements established before. Detailed design, development, manufacturing and test of one joint<br />
demonstrator.<br />
3. Phase 3 (1300 kEuros): Upon possible design iterations based on the unit test results from Phase 2, development and<br />
manufacturing of a total of 7 similar joints. Integration in a dextrous robot arm system testbed, demonstration by system-level<br />
testing.<br />
Deliverables:<br />
Technical Note. System design and Requirements definition. Joint demonstrator (design, manufacturing and testing). 7 joints<br />
development, manufacturing, integration and testing in a dedicated test-bed.<br />
Current TRL: TRL1 Target TRL: TRL3 Application Need/Date: TRL5 by 2010-2012<br />
Page 60 of 227
Change language