Design guidelines for robotically serviceable hardware

Research being conducted at the Goddard Space Flight Center into the development of guidelines for the design of robotically serviceable spaceflight hardware is described. A mock-up was built based on an existing spaceflight system demonstrating how these guidelines can be applied to actual hardware. The report examines the basic servicing philosophy being studied and how this philosophy is reflected in the formulation of design guidelines for robotic servicing. A description of the mock-up is presented with emphasis on the design features that make it robot friendly. Three robotic servicing schemes fulfilling the design guidelines were developed for the mock-up. These servicing schemes are examined as to how their implementation was affected by the constraints of the spacecraft system on which the mock-up is based.