A dual-armed free flyer

This summary presents the main conclusions and results of the design studies conducted by a group of 13 students at the University of Maryland. The students, all participants in the spring 1989 course ENEE418 in the Electrical Engineering Department, met weekly in a two-hour class to discuss and evaluate design alternatives. The main problem considered was the design and control of a planar testbed simulating a free-flying space robot for applications in satellite servicing. This project grew out of the 1988 class where a dual-armed free flyer (DAFF) was designed and partially built. This year, a group of six students continued the development of the DAFF, achieving computer-controlled motion of the DAFF's arms. All fabrication and testing of the DAFF is being conducted in the Intelligent Servosystems Laboratory at the University of Maryland. While the work related to the design and development of the DAFF is the main subject of the report, it should be noted that other students in the ENEE418 class have investigated additional issues related to manipulation in space. For example, one group studied a new parallel linkage based manipulator for fine motion applications such as in assembly operations in space. They investigated the mechanism's kinematics, its reachable workspace, and precision of applying forces and torques. In yet another project, a student set out to measure and map the friction characteristics of the actuators used in the Modular Dextrous Hand, which has been recently developed in the Intelligent Servosystems Laboratory. The results are expected to help compensate for this friction, which is a highly nonlinear disturbance and presents significant problems in high-precision, low-speed operations. This summary continues with the discussion of the results obtained by the group of students who have been working on developing the DAFF testbed.