GROUP_06_ORBSIGHT

State of the Art

Jumping Spider

Concept

Release procedure

Flight path predetermined on ground for each landing spot

Robot released at the airlock

module of ISS

Flight Procedure

Motion provided by 6 cold gas (CO2) thruster triads

Attitude control subsystem: 4 reaction wheels and torque rods

Active position control carried out by

navigation system

Inspection Sensor

Miniaturized LIDAR System

HD6D by Spec:

• 12.8Mpx/s
• range +/- 3mm
• pixel sz. 0.7mr-0.15mr

Sensible enough to detect MMOD damage caused by undetectable debris

Scanning and time of mission

V = 10 cm/min

Tscan ~ 1 h for 1 square meter

Return flight

Robot goes back at landing site to take-off for its return flight

Mechanical impulse provided by the six legs

If distance from landing site and

target is at max 1.5m and Atot~4 square meters

Tmission ~ 5 h

THANK FOR YOUR ATTENTION

Massimo Piazza

Riccardo De Gasperin

Antonio Finozzi

Lorenzo Patron

References:

• Fredrickson, Steven, Steve Duran, and Jennifer Mitchell. "Mini AERCam inspection robot for human space missions." Space 2004 Conference and Exhibit. 2004.

• Nabawy, Mostafa RA, et al. "Energy and time optimal trajectories in exploratory jumps of the spider Phidippus regius." Scientific reports 8.1 (2018): 7142.

• Cardin, Joseph, et al. "A cold gas micro-propulsion system for CubeSats." (2003).

• Parness, Aaron, et al. "LEMUR 3: A limbed climbing robot for extreme terrain mobility in space." Robotics and Automation (ICRA), 2017 IEEE International Conference on. IEEE, 2017.

• Hirayama, H., T. Hanada, and T. Yasaka. "In situ debris measurements in MEO/HEO using onboard spacecraft surface inspection system." Advances in Space Research 34.5 (2004): 951-956.

• Jiang, Hao, et al. "A robotic device using gecko-inspired adhesives can grasp and manipulate large objects in microgravity." Sci. Robot 2.7 (2017).

• https://www.sony-semicon.co.jp/products_en/IS/sensor1/products/imx351.html)