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The impact of an IVA robot on the Space Station microgravity environmentIn order to maintain a microgravity environment during Space Station operations, it will be necessary to minimize reaction forces. These mechanical forces will typically occur during reboost, docking, equipment operation, intravehicular activities (IVA) robot operation, or crew activity. This paper focuses on those disturbances created by an IVA robot and its impact on the Space Station microgravity environment. The robot dynamic analysis that was used to generate the forcing function as the input into a finite element model of the U.S. Laboratory will be shown. Acceleration levels were determined through analysis and have shown that a robotic system can sustain reaction forces into the station below 0.0001 g. A comparison between IVA robot effects and crew motion effects on the low-g environment is also described. It is concluded that robot trajectory shaping and motor accelerations feedback can minimize reaction forces.
Document ID
19890041067
Acquisition Source
Legacy CDMS
Document Type
Conference Paper
Authors
Harman, Phillip E.
(Teledyne Brown Engineering Huntsville, AL, United States)
Rohn, Douglas A.
(NASA Lewis Research Center Cleveland, OH, United States)
Date Acquired
August 14, 2013
Publication Date
January 1, 1989
Subject Category
Spacecraft Design, Testing And Performance
Report/Patent Number
AIAA PAPER 89-0596
Accession Number
89A28438
Funding Number(s)
CONTRACT_GRANT: NAS3-25278
Distribution Limits
Public
Copyright
Other

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