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Record Details

Record 30 of 4676
The impact of an IVA robot on the Space Station microgravity environment
Author and Affiliation:
Harman, Phillip E.(Teledyne Brown Engineering, Huntsville, AL, United States)
Rohn, Douglas A.(NASA Lewis Research Center, Cleveland, OH, United States)
Abstract: In 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.
Publication Date: Jan 01, 1989
Document ID:
19890041067
(Acquired Nov 28, 1995)
Accession Number: 89A28438
Subject Category: SPACECRAFT DESIGN, TESTING AND PERFORMANCE
Report/Patent Number: AIAA PAPER 89-0596
Document Type: Preprint
Publisher Information: United States
Contract/Grant/Task Num: NAS3-25278
Financial Sponsor: NASA; United States
Organization Source: Teledyne Brown Engineering; Huntsville, AL, United States
NASA Lewis Research Center; Cleveland, OH, United States
Description: 14p; In English
Distribution Limits: Unclassified; Publicly available; Unlimited
Rights: Copyright
NASA Terms: INTRAVEHICULAR ACTIVITY; MICROGRAVITY; ROBOTS; SPACE STATIONS; ACCELERATION (PHYSICS); END EFFECTORS; GRAVITATIONAL FIELDS; NASTRAN; SPACE COMMERCIALIZATION; TRANSIENT RESPONSE
Imprint And Other Notes: AIAA, Aerospace Sciences Meeting, 27th, Reno, NV, Jan. 9-12, 1989. 14 p.
Availability Source: Other Sources
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