Remote servicing of space systems

Space systems are difficult to maintain on orbit. The difficulty arises from the limited ability and availability of the astronaut work force in the hazardous space environment. Remote robotic manipulation can free the astronaut from the hazardous working environment while also increasing the work force. However, remote robotic servicing is not without its own set of problems and limitations, such as communication time delay and unstructured worksites. Tests and test equipment are described which are designed to increase the understanding of the remote servicing problems and to allow development of potential solutions. A half scale satellite mockup was developed for evaluating and improving upon the design of replaceable subsystems, such as batteries and electronic boxes. A servicer system, that includes a six degree of freedom PUMA 560 robot and interchangeable end effectors (tools), was developed to aid in driving out servicer design requirements. The results include the time delay impact on servicing timelines and requirements for the servicer system.