ThAMme
lacin
thequa
indigt
orga& N
MecanInd
Me
In1. Messa
2. About3. Contri5. Forthc
6. Adver
CoDr. G. SSecretaryTel: (044) 2
Fax: (044)
E‐mail: seWeb Site: h
Vo
ObjectivesActiviti
he main objeMM is to con
chanical desevels startincademic resendustrial initereby enhanality and religenous machthis in view, anises the Int
National ConfMachines
chanisms, iNnd the worksdustrial Prob
Machines echanisms, I
regularl
nside This age from the Edi
t the AMM and Iibuted Article coming Events
rtisement
ontact DeSaravana Kuy, AMM 2257 4736 (O)
2257 4732
ecretary@ammhttp://www.amm
olume 7
s and ies
ective of ntribute to sign at all ng from earch to tiatives,
ncing the iability of hines. With AMM
ternational ference on and
NaCoMM, shops on blems on and PRoMM y.
Issue itor-in-Chief
IFToMM
etails umar
mindia.org mindia.org
As
7, No. 2
WiththeApril 20MechanisDr. R. RaresponsibcontributBriefOveregardingrecent steof the Assdue intereTheiNaCarebeingbriefs abissuesanDr.G.SarAMM havgratefullyEditorialFor brincontributConstrucoftheAM
ssoci
scorchingh015 issue osms(AMM)
anganath, tbility to bted an inteerview”.Thig interplanet
ep to land onsociation of est in space m
CoMM‐2015gorganisedbout these endcandecid
rvanaKumave taken dy acknowleBoardmem
nging outtearticles,tctive suggesMMaremost
iatio
Mess
heatsteppinof the Bullisbeingpu
the Zonal Vring out teresting artisarticlematary explora
n a Comet. TMachines anmissions and
andsomeinthecomevents in thdeonsendin
ar,theSecreue initiativedges the smbers.
July 2015technicalbrstions, commtwelcome.
on fo
sage fro
nginafterthletin of thublishedint
Vice Presidethis issueticle on “Spakesarevieation for lanThis article ind Mechanisd related astr
othereventmingmonthshis issue ofngarticlesa
etaryoftheve to publisupport exte
issue, AMriefs,etc.anments towa
or MaM
Ne
om the E
hespringsehe AssociatthislateApr
ent (South)of the Bulpacecraft Dewonthestnding on Mois sure to entsms, but alsoronomical is
tsassociates.Interestedf the Bulletand/orparti
eAMM,andsh this issuended by t
MM membedsendsamards improv
achinMechews B
Editor-in
eason,Volution of Maril.
), has takenlletin. HisDocking Mectate‐of‐the‐oon, Mars athuse not ono other readessues.
edwiththedpersonsmtin similar ticipateinth
otherofficeue. The Editthe office b
ers are remetotheedivement of t
Prof.SEdit
nes ahanisBulle
Apri
-Chief
me7,No.2,chines and
n the maingroup haschanism‐ Aartsystems
and the mostnly membersers who take
Associationmayfindtheto previoushesame.
ebearersoftor‐in‐Chiefbearers and
quested totorialteamtheBulletin
SantanuDasor–in–Chief
andsmsetin
il 2015
,d
nsAst s e
nes
ffd
o.n
sf
The AMM headquarter is currently located at the Department of Engineering Design, IIT Madras. A new set of office bearers have taken charge of the affairs of AMM. AMM invites both individual and corporate membership from Indian academia, research organizations and industry. Membership benefits and other information about AMM are available at www.ammindia.org. The body of Zonal Vice Presidents (ZVPs) is active over the past several years with representations from the four corners of the country. They are playing the role of nodal agencies so as to decentralise the AMM official activities and to organise workshops under the aegis of AMM to popularise the mechanism science in their respective regions. They also form the editorial team of this news bulletin. AMM invites contributory articles from its members and others working in the various fields of mechanisms science for this quarterly news bulletin. Interested people can contact the editorial team.
Office Bearers of the AMM: Prof. C. Amarnath (President) Retired Professor, Department of Mechanical Engineering, Indian Institute of Technology, Bombay, Powai, Mumbai 400076, INDIA Phone: + 91 80 2368 2151 Email: [email protected]
Prof. Ashitava Ghosal (Vice President) Department of Mechanical Engineering, Indian Institute of Science, Bangalore 560 012, INDIA. Phone: +91 80 2293 2956 Email: [email protected] Web: http://www.mecheng.iisc.ernet.in/~asitava
Dr. G. Saravana Kumar (Secretary) Department of Engineering Design, Indian Institute of Technology, Madras, Chennai 600036, INDIA. Phone: + 91 (44) 2257 4736 Email: [email protected] Web: http://ed.iitm.ac.in/~gsaravana
Dr. Palaniappan Ramu (Treasurer) Department of Engineering Design, Indian Institute of Technology, Madras, Chennai 600036, INDIA. Phone: + 91 (44) 2257 4738 Email: [email protected] Web: http://ed.iitm.ac.in/~palramu
Editorial Team of the News Bulletin: Dr. Santanu Das (Editor-in-Chief, News Bulletin) Professor and Head, Department of Mechanical Engineering Kalyani Govt. Engineering College, Kalyani- 741235, INDIA Phone: +91 (33) 2582 1309 Email: [email protected]
About the Association of Machines and Mechanisms (AMM)
Dr. Shankar Sehgal, (Zonal Vice President [ZVP] North) Assistant Professor, Mechanical Engineering Department, Room No. 102, Block 2, U.I.E.T., Sector-25 Panjab University, Chandigarh- 160 014. INDIA Phone: +91 95010 24161 E-mail: [email protected] Dr. R. Ranganath, (ZVP, South) Spacecraft Mechanisms Group, ISRO Satellite Centre, Bangalore-560017, INDIA Phone: +91 (80) 25082417 Email: [email protected]
Dr. Ranjit Kumar Barai, (ZVP, East) Associate Professor, Control System Laboratory, Electrical Engineering Department, Jadavpur University, Kolkata- 700 032, INDIA Phone: +91 (33) 24139270 Email: [email protected] Dr. Shital S. Chiddarwar (ZVP, West) Assistant Professor, Dept of Mechanical Engineering Visvesvaraya National Institute of Technology, Nagpur, INDIA Phone: +91 9561050130 Email: [email protected]
Education is basic to the creation of an atmosphere in which human beings can meet one another on a plane of friendship and equality.
--- Maulana Abul Kalam Azad
4
About the International Federation for the Promotion of Mechanism and Machine Science (IFToMM)
5
Bodies of IFToMM General Assembly The General Assembly is the supreme body of the Federation and determines its policy. It is composed of the Chief Delegates of IFToMM Members and members of the Executive Council. Executive Council The Executive Council manages the affairs of the Federation between the sessions of the General Assembly. It is elected every four years, meets annually, and is composed of the President, Vice- President, Secretary-General, Treasurer, and six ordinary members. Commissions and Committees Each Permanent Commission and Technical Committee is composed of a Chairperson, appointed by the Executive Council, a Secretary and members, nominated by the Chairperson and appointed by the Executive Council. A Chairperson shall not serve for more than two terms consecutively. The general goals for the work of the Commissions and Committees are aimed at promoting their fields of interest by attracting researchers and practitioners, including young individuals, in order to: - define new directions in research and development within their technical areas; - establish contacts between researchers and engineers; - initiate and develop bases and procedures for modern problems; - promote the exchange of information; - organize national and international symposia,
conferences, summer schools, and meetings. Member Organizations ARMENIA AUSTRALIA AUSTRIA AZERBAIJAN BELARUS BRAZIL BULGARIA CANADA CHINA-BEIJING CHINA-TAIPEI CROATIA CZECH REPUBLIC DENMARK EGYPT FINLAND FRANCE GEORGIA GERMANY GREECE HUNGARY INDIA ISRAEL ITALY JAPAN KAZAKHSTAN KOREA LITHUANIA MACEDONIA MEXICO NETHERLANDS PERU POLAND PORTUGAL ROMANIA RUSSIA SERBIA SINGAPORE SLOVAKIA SLOVENIA SPAIN SWITZERLAND TUNISIA TURKEY UKRAINE UNITED KINGDOM USA VIETNAM Welcome to Taipei, China-Taipei, venue of the 14th IFToMM World Congress, 25-30 October, 2015,
www.iftomm2015.tw IFToMM supported Conferences (selection) Int. Symposium on History of Machines and Mechanisms (HMM) Workshop on Computational Kinematics (CK) Rotordynamics Conference CISM-IFToMM Symposium on Robot
Design, Dynamics, and Control (ROMANSY) Mechanical Transmission Applications (MeTrApp) Symposium on Robotics & Mechatronics (ISRM) European Conf on Mechanism Science (EUCOMES) Asian Conference on MMS (ASIAN MMS) Summer Schools Conferences under IFToMM patronage (selection) Local conferences of the IFToMM Members Symposium on Theory and Practice of Robot and Manipulators (SYROM) IFToMM-FeIbIM Int. Symposium on Multibody Systems and Mechatronics (MUSME) Joining IFToMM Member Organizations gives the following benefits: international contacts for potential developments of joint projects; reduced registration fees for IFToMM supported conferences; participation and contribution in IFToMM activities and publications; flow of information on IFToMM activities. You are kindly invited to join IFToMM and its activities.
6
Spacecraft Docking Mechanism‐ A Brief Overview
Anoop Kumar Srivastava1 and R Ranganath2
Spacecraft Mechanisms Group,
Indian Space Research Organisation, Satellite Centre, Bangalore 1Email: [email protected], 2Email: [email protected]
1 Introduction
Present day scenario in space exploration has matured much beyond the aggressive competition among select nations towards proving technical superiority of the early 60s. It now touches each and every aspect of life tending towards finding ways of survivability of humans in space. Giant steps have been taken towards interplanetary exploration from landing on Moon to landing on Mars with the most recent one being landing on a Comet. Time has come when joint collaborations in the field of space exploration is becoming a necessity for realising an alternate habitat to mankind. Extending space exploration beyond the limits of earth observation could not be done without the development of some key technologies. One of the most crucial among them is the development of spacecraft docking technology. The rendezvous and docking of satellites forms the backbone of several proven services in space exploration like-
i) Building of large structures and laboratories in space; eg: MIR Space Station, International Space Station (ISS)
ii) Servicing of spacecrafts; eg: servicing of Hubble’s Telescope iii) Human interplanetary exploration; eg: Apollo programme for Landing on Moon
Advances in the field of docking were a result of intense technological race between the Russians and Americans. The Russians took the early lead by launching the Sputnik. The Americans in response announced their ambitious plan of landing a man on the moon and bring him back safely to earth. This triggered developmental activities which required a number of mission critical docking and undocking activities during the onward journey to the moon and for the return flight. The early 1960s witnessed tremendous developmental activities and conduct of docking experiments. The first successful docking could be achieved by Gemini VIII on March 16, 1966 with Agena Spacecraft [10]. This was later followed by the successful landing of men on the moon in Apollo 11 mission and their safe return to earth in 1969. This successful mission heralded a new dimension to the human spirit of exploration and a new impetus to space research. Needless to say, the docking mechanism is one of the critical systems in the success of space docking missions. This paper addresses a brief overview of docking mechanisms in different missions. Table 1 shows in brief the evolution of docking mechanisms from the 60 to till date including that in the near future.
Contributed Article
7
Spacecraft Docking Mechanism
Impact Energies
Impact Docking
Soft Docking
Mode of operation
Autonomous
Manual
Pressure sealing
Pressurised
Non Pressurised
Configuration
Androgynous
Non Androgynous
Table 1: Docking mechanism at a glance Vehicles Masses Year Mechanism
Gemini-Agena 3789kg-3175kg 1966 Index bar-docking cone.
Apollo: Command Service Module(CSM)-Lunar Module(LM)
30332kg- 14696kg 1969 Probe and Drogue
Apollo-Soyuz 16780kg- 6790kg 1975 International Docking Mechanism (androgynous)-APAS75
Soyuz/Progress-ISS ~7000kg- 344378kg 2003-Present
Probe and Drogue
Shuttle-ISS ~80000kg – 344378kg 1998-Present
APAS 75, APAS 89, APAS 95
ATV - ISS docking Upto 28T First Flight planned in
2016
International Berthing and Docking Mechanism (IBDM)
ISS docking Lowest 1183kg Unity to Zarya 1998 to till date
Common Berthing Mechanism (CBM)
ISS docking 5000 Kg– Chaser and Target (Light)
25T Chaser to 350T Target (Heavy)
Futuristic NASA Docking System (NDS)
ETS VII: Orihime –Hikoboshi
400kg- 2200kg 1997 Low impact mechanism : Claws and handle bars
Orbital Express: ASTRO-NextSAT)
1088kg- 226kg 2007 Three pronged Starsys docking mechanism
Shenzhou 8 – Tiangong 1 Docking
8082 kg- 8506 kg 2011 APAS -95
Mini AERCAM - ISS
5kg- 344378 kg Futuristic Magnetic docking system and ball lock mechanism
Docking concept for pico satellites
1 to 5 kg Futuristic Micro cilia arrays (MEMS based)
2 Classification of Docking Mechanisms
The docking mechanisms can be classified based on the impact energies, mode of operation, pressure sealing and modularity in configuration. Figure 1 shows this classification pictorially.
Figure 1. Classification of spacecraft docking mechanism
8
The figure above gives a very broad classification of the docking mechanisms used for spacecrafts. Details of each are discussed in the subsequent sections
2.1. Impact Energies
For docking between the two spacecrafts to occur a positive relative velocity between the two spacecrafts is a necessity. This results in relative kinetic energies between the two spacecrafts. Docking is the instance when two spacecrafts are joined together in space. At this instance if the relative kinetic energy is absorbed or dissipated to a large extent, then the docking procedure adopted is called as soft docking or low impact docking. On the other hand if this energy is made use of for actuating the capture mechanism or in simple terms not attenuated to a large extent then it results in Impact docking. Both have their inherent advantages and disadvantages which were used while configuring the systems. Typical examples of Low impact docking are the present Androgynous Peripheral Attachment System (APAS 95) used on ISS-Shuttle and example of impact docking is Apollo docking mechanism. The impact docking is generally preferred when the spacecraft involved in are axi-symmetric and their centre of mass are aligned. The proximity sensors requirements for impact docking are less stringent in comparison to that of soft docking. For large flexible and locally fragile spacecrafts and where the centre of mass of the chaser and target are offset from each other, soft docking is generally preferred. Impact docking was used by Apollo missions in their probe and drogue type of docking mechanism and also by the Russians. This enables the spacecrafts to be captured without the use of active capture mechanism and the two spacecrafts get captured using the kinetic energy of the spacecrafts. Another important aspect is the docking disturbances which are discussed in subsequent sections.
2.2. Mode of Operation
Docking sequence can be made to be conducted by direct intervention of Astronauts, by ground command or it can also be made autonomous. The autonomous features gain importance when dealing with interplanetary missions. In manual docking sequence, a target and a marker is used for achieving the requisite alignments making use of manual operation of thrusters in pulse mode. For autonomous docking sequence, closed loop operation making use of sensors is performed where corrective actions are taken for every misalignments observed. In this mode even the capture, stabilisation, retraction and rigidisation is performed by onboard autonomous commands.
2.3. Pressure Sealing
Docking mechanism for spacecrafts are used for all purposes including human transfer, material transfer, refuelling and repair services. Instances when shirt sleeve environment for astronauts has to be ensured, in such scenarios pressure sealing has to be achieved across the docking ports. This is done making use of pressurised locking and fastening mechanism which ensures very low leakage of air. However, where only material transfer is required or repair service has to be performed externally in such instance pressure sealing can be avoided. The two docking modules are rigidised in non pressurised state and the activities are performed. Pressure sealing becomes a large overhead on the overall system thus the application of that is always scrutinised and then adopted.
2.4. Configuration
This classification basically deals with the design configuration which is directly based on the development of the type of docking mechanism. Earlier developed docking mechanisms including Apollo and Gemini were centrally placed and along the axis of symmetry. They were of the non androgynous types as they had two different modules for chaser and target
9
spacecrafts. Subsequently, the mounting of docking mechanism on the periphery became popular as their capture and rigidisation elements could be place on the periphery and were simpler in operation in comparison to centrally placed docking mechanism. To increase the reliability of operation, androgyny was adopted so that identical mechanisms are mounted on the chaser and target. This enabled either of them acting as chaser or target.
3 Docking Disturbances
Docking disturbance is a function of docking force and docking time. Disturbance can be in terms of resultant force or resultant torque. The resultant torque is obtained as a product of docking force and perpendicular distance of the application of force to the CG of the spacecraft (d). This would tend to spin the two spacecrafts. Mathematically it can be seen as given below
Docking disturbance = f (docking force, docking time)
Disturbing moment = docking force x distance of CG from the docking port
The docking force is a function of the relative velocities between the two spacecrafts at contact. The docking time is a function of the characteristics of the capture mechanism. If the relative velocities between the two spacecrafts are kept low at contact and time of operations of the capture latches are kept to a minimum (fast acting), the docking disturbances can be reduced.
Large docking disturbance present in impact docking results in considerable burden on the spacecraft control systems. It is preferred to reduce it significantly and this is achieved in soft docking methods.
4 Types of Docking Mechanisms
Since the advent of the docking technologies giant steps have been taken in this field. Latest technologies have matured way beyond from the first Gemini VIII adaptor cone based docking mechanism. Docking mechanism in the initial days was operated using manual commands and the presently fully autonomous docking mechanisms have become operational for unmanned missions. Each type of docking mechanism is configured suiting to the requirements of the approach parameters as defined by the mission. Change in these approach parameters lead to major configuration changes. There have been developments of various kinds of docking mechanisms apart from the ones used by ESA and NASA for ISS. They are used for docking of small satellites. The subsequent article shall deal with the type of docking mechanisms developed and their approach parameters which provide the baseline for the design of the docking mechanism.
4.1. Gemini Docking Mechanism
Gemini docking was performed between Gemini and Agena spacecrafts using a cup and a cone arrangement as shown in figure 1. This was operated manually by the Astronaut on Gemini and docking was achieved between the active Gemini Spacecraft and passive Agena spacecraft. The V shaped indexing bar is used for the alignment of the spacecrafts. This was a non androgyny non autonomous docking mechanism which did not allow for crew transfer between the two spacecrafts.
10
4.2.
The Apmechanan extespacecrmanoeuprocedu Apollo Axial (CRadial (AngularRadial AAngularRotation This alowhere tDetails
Apollo Doc
pollo dockinnism which ending probraft. This wuvre the spaures.
Approach p
Closing) Ve(transverse)r velocity Alignment r X axis Alinal Alignm
ong with gethe relative of the mech
Fig 1
cking Mech
ng mechaniswas an imp
be which wwas also a acecraft to c
parameter [8
elocity ) Velocity ignment
ment
emini dockikinetic enerhanism used
1: Gemini d
hanism
sm as shownprovement
would perfonon auton
close proxim
8] of the Ap
- 0.0305 to - 0.0 to 0.1- 0.0 to 1.0 - 0.0 to 0.30- 0.0 to 10 d- minus 60
ing system rgy of the sd is availabl
docking mec
n in figure 2over the G
orm dockingnomous domity and cl
pollo dockin
0.305 m/s524 m/s degree/seco
048 m degrees degrees (±
belong to tspacecrafts ile in Refere
chanism [11
2, used the fGemini Agen
g with the ocking systelose in for d
ng mechani
ond
10 degrees)
the family ois used to a
ence 13.
1][25]
first probe ana docking drogue pre
em whereindocking in
sm are give
)
of impact dactuate the l
and drogue mechanism
esent in then the crewstep based
en below
docking mecocking mec
docking m. It had e chaser
w would docking
chanism chanism.
11
4.3.
The prodockingwhich tshows t The doccontrol alignmemounte Before which einto thethe twopressurecontact form a p The folthat the
Soyuz Doc
obe, drogueg subsystemthe astronauthe extended
cking maneengines on
ent sight, aed at a rende
the dockinextends thee socket at to modules toe system lo12 latches
pressure-tig
lowing figu docking sy
Fig
cking Mech
, tension tiem. Each mod
uts will trad configurat
euvers are con the active an optical dezvous wind
ng maneuve probe. Whhe bottom oogether. A cated in themounted on
ght seal betw
ure shows thystem is atta
g 2: Apollo
hanism
e and a docdule also coansfer fromtion of the p
ontrolled byvehicle. H
device somdow.
ers begin a hen the probof the drogucrewman th
e probe) whn the Chaseween the tw
he various mached to the
docking m
king ring arontains a doc
m one vehicprobe
y the comme is aided i
mething like
crewman ibe comes iue. Three cahen activate
hich automar Module d
wo modules.
modules of e top portion
mechanism [
re the princcking pressle to anoth
mander throuin maneuve
the range
in the Chasnto contactapture latches the probe
atically pullsdocking ring
f the Soyuz n of the orbi
12]
cipal compoure hatch an
her (i.e. if r
ugh short buering his cra
finder of
ser Module t with the dhes in the pre retractions the two mg are automa
spacecraft. ital module
onents of thnd a tunnel required). F
ursts of the aft by the ca camera w
activates adrogue, it isrobe head thn device (a n
modules togeatically acti
It is clearly.
he Soyuz through
Figure 3
reaction crewman which is
a switch s guided hen hold nitrogen ether. At ivated to
y visible
12
4.4.
The Apthe Inte(APAS) An andrchaser ascenario
F
Androgynu
pollo Soyuz ernational D)-75.
rogynous syand target so, either one
Fig 3: Exten
us Peripher
docking meDocking Me
ystem is onespacecraft he can be ma
Fig 4: Do
nded probe
ral Attachm
echanism isechanism (I
e in which bhave the saade the activ
ocking of A
of Soyuz do
ment Syste
s an androgyDM) – And
both male aame dockingve vehicle.
Apollo and S
ocking mec
m
ynous systedrogynous P
and female pg mechanis
Soyuz space
chanism [14
em as shownPeripheral A
parts are idem. Depend
ecrafts [5]
4]
n in figure 4Attachment
entical, thatding on the
4, called t System
t is, both mission
13
The actmounteBefore positionmechanmesh wsufficiecapture relativeenergy alignmethe vehFigure 5
This wcollabormechan
Subsequmechan89 was Ball scr
tive IDM ced latches, s
docking, tn. This arranisms of thewith the paent, the atten
latches of te kinetic ene
in the atteent betweenhicles togeth5 shows the
was the firsration betw
nism. The de
uent to thisnism. The n
launched irew based h
consists of six attenuatthe active angement pee active spaassive IDMnuator geomthe active Iergy remainenuator sprn the dockinher, engagie APAS doc
Fig
t docking ween the twetails of app
Table 1: ADescripLongituRoll Pitch Yaw Roll RaPitch RYaw RVx Vy Vz
s developmext version in the year hexapod was
a guide rintors, eight sspacecraft ermits the a
acecraft onlyM guides crmetry of theDM to latchning after crings returnng vehiclesing the strucking mecha
5: APAS 75
mechanismwo technoproach para
Approach parption Minudinal axis d
-7 -7 -7
ate -1 Rate -1
ate -1 -0.1-0.10.05
ment major of the APA1989, whics configured
ng, three gstructural rinextends th
accomplishmy. During a
reating a ce active IDMh the body apture is nu
ns the IDM. Initiation
uctural latchanism.
5 Docking M
m which palogical gia
ameters are g
rameters ofnimum Mdisplacemen
777111
0. 0.
5 0.
advancemeAS docking ch had the sd and comp
guides, threng latches
he guide rinment of all
a docking atentering ef
M will compmounted laullified by t
M to the iniof the cabl
hes and rig
Mechanism
aved the wants in the given in tab
f APAS-75 dMaximum
nt
1 1 3
ents were mmechanism
same numbpression spri
e capture land a cableng into thel docking opttempt, the
ffect. If theply, allowinatches of thethe six attenitial confige retractionidizing the
[14]
way for thefield of s
ble 1.
docking [5]Units
300mmdeg deg deg deg/s deg/s deg/s m/s m/s m/s
made in thim came to bber of petalsings were im
latches, three retraction e extreme perations uactive IDM
e impact enng the springe passive IDnuators. Th
guration facn mechanism
docking in
e first interspacecraft
]
is type of e known ass but facingmplemented
ee body system. forward
using the M guides nergy is g loaded
DM. The he stored cilitating m draws nterface.
rnational docking
docking s APAS- g inside. d.
14
Later wand a ne
ChineseDockincapabili
4.5.
This is dockingwhich i
1) 2) 3) 4) 5) 6)
Apart fmechan
1) 2) 3)
Functiofrom seinternat
when APASew version
e docking g hardwareities
Common B
the most exg of structunclude
Segment toRocketdyneModified RModule to TCarried AttMobile Tra
from the aunisms also a
Manual BerExposed FaExposed Fa
oning and weveral attactional space
Fig 6: A
S was adoptwas introdu
Fig 7: AP
system wae. They use
Berthing M
xtensively uures and ve
o segment ate Truss Atta
Rocketdyne Truss Segmtachment Syansport (MT
utomated beavailable:
rthing Mechacility Berthacility unit.
working of chment syse station ha
APAS 89 c
ted for Spacuced called
PAS 95 con
as a boughted it on Sh
Mechanism
used dockinehicles for
ttachment syachment SyTruss Attac
ment Attachmystem (CAST) to Mobile
erthing mec
hanism (MBhing Mecha
all these tystems, a gas two part
onfiguration
ce Shuttle ias APAS 9
nfiguration f
t out systehenzou spa
(CBM)
g mechanisthe expansi
ystem (SSAystem (RTAchment Systment SystemS) e Base Serv
chanism the
BM) anism (EFBM
ypes of dockeneric Comts. One is c
n used on M
in the year 5 as shown
for space sh
m whereinacecraft and
sm on ISS. Iion of the
AS) AS)
tem (MRTAm (MTSAS
icer (MBS)
ere are a few
M)
kings can bmmon Bertcalled as th
Mir [15]
1995, it wain figure 7.
huttle [16]
n they purcd demonstr
It provides ISS and tr
AS) )
) Interface
w manually
be seen in rthing Mechhe active rin
as further m.
chased the rated their
several variansfer of m
y operated b
reference 10hanism (CBng attached
modified
Russian docking
iants for materials
berthing
0. Apart BM) for d to one
15
spacecrdefines ActuatiEach A
i ii iii
The boactuatorthe actu
4.6.
It was ithe docSpace Sdockingwas forversion (IDD) wgeometrcompat
raft and passwhich one on system hctive CBM
Control pan4 capture la16 power b
lt actuatorsrs used for
uators are gi
SL No. 1 M
2 F3 G4 O5 T
Fig 8: A
Internation
in Decembecking systemStation. Ang system. Inrmulated wh
of Internawas releasery and deible dockin
sive ring attto have act
hardware co(ACBM) c
nel assemblatch assembbolt assembl
are used tlatch and b
iven in the f
DMotor type
Feedback dGear ratio Output torqTorque spee
Active and p
nal Dockin
er, 2008 whms to enabln attempt wn the year 2hich would ational Dock in Septembsign paramg system fo
tached to thtive and whomponents iontains:
lies blies lies.
to secure thbolt are idenfollowing ta
escription
device
que capabilited character
passive rings
ng System S
hen a collable cost sharwas made t2010 ratherallow anyoking System
mber 2010 [2meters whicor ISS progr
he other spahich one to hincluding co
he bolts witntical but foable.
ty ristics
s of the com
Standards-
borative initring while tto replace r than devene to designm Standard2]. This doch help thramme.
acecraft. Mihave passivontroller an
th a maximor the moun
3 phase, 1motor Hall effect 1242:1 395Nm 180Nm upt
mmon berthi
IDSS
tiative was ttargeting lonall the CBloping a nen a dockingds- IDSS Inocument prohe other de
ssion profilve. The activnd bolt & lat
mum preloadnting interfa
Values 10 pole Br
sensor
to 2min @ 0
ing mechan
taken to devng term goM modules
ew dockingg system fornterface Deovided the esign agenc
le of the spave ring conttch actuator
d of 8755 kaces. The d
rushless DC
0.5RPM
nism [17]
velop standals of Inters with low
g system a sr ISS [22]. Tefinition Dodetails of thcies to dev
acecrafts tains the rs [3].
kgf. The details of
C
dards for rnational
w impact standard The first ocument he basic velop a
16
4.7.
The Intmagnet
Internation
ternational ically latch
Fig
nal Berthin
Berthing ahed for cap
Table 1. In
Approa
9: Androgy
ng and Doc
and Dockinpture, low
nitial contact
ach Parame
ynous docki
cking Mech
ng Mechaniimpact do
t conditions
eters [6]
ing interface
hanism (IBD
ism (IBDMocking syst
s
e [6]
DM)
M) is a conem, capabl
ntact force le of dock
sensing, king and
17
berthingmechan
IBDM are elecdocking Based ovehiclesinherenforces itons und
4.8.
In Apriwould ato the Attenuatwo spapeople a Soft Control
g large and nical design
does not inctromagnetig.
on the stiffs would no
nt kinetic enin order to der the give
T
NASA Doc
il 2012, woamalgamatelow impac
ation concepacecraft canand resourcCapture S
ller.
small vehic
Fig 10: I
ncorporate aically actua
ffness charaot be possibnergy will halign the do
en errors an
able 2. Doc
DescrRoll Pitch Yaw X Y Roll RPitch RYaw RVx Vy Vz
cking Syste
ork was inite the APASct docking pt (SIMAC
n establish ace between tSystem (SC
cles develop
IBDM mech
a capture laated and th
acteristics ible with th
have very leocking platd velocity v
cking misali
iption Mi-5-5-5-5-5
Rate -0.Rate -0.Rate -0.
-1-1 -10
em (NDS)
tiated towaS Russian sy
mechanismC). The purpa pressurisetwo spacecr
CS), a Hard
ped by ESA
hanical elem
atch and rathey perform
t can be che IBDM. Tess margin fforms. Veh
values can s
ignments an
inimum M55555
5 015 015 0
11
0 -
ards the reaystem of dom. This wpose of theed, man rateraft. The thrd Capture
A. Figure 10
ment’s conf
ther has mam the captu
concluded thThus the vefor controll
hicles with msuccessfully
nd velocity t
Maximum5 5 5 5 5 0.5 0.15 0.15 1 1
5
lisation of ocking and p
was named e NDS is toed physical ree major suSystem (H
0, shows the
figuration
agnetic strikure action f
hat dockingehicles appling with remass rangin
y dock with
tolerances [
Unitsdeg deg deg cm cm deg/s deg/s deg/s cm/s cm/s cm/s
a new dockprovide a soas Soft Im
o provide thconnectionubsystems o
HCS) and a
e drawing o
kers. These for the low
g of light proaching wespect to theng betweenIBDM.
[4]
king systemoft platformmpact Mathe means byn for the paof the NDSa Docking
of IBDM
strikers w impact
docking with less e impact 2 to 21
m which m similar
ing and y which ssage of
S include System
18
Few rerequiremInternatFigure
The app
4.9.
The Eng • • Both thand doc The dotarget sEach lahandle b ETS VI– GP
equirementsments was tional Dock11 shows th
proach para
ETS VII: O
gineering te
Chaser SateTarget sate
he satellites cking (RVD
cking mechatellite. Th
atch modulebars at 120
II had the foPS Receiver
s were stipthat Hard
king Systemhe compone
Fig 11: Co
meters for N
Orihime an
est Satellite
ellite : Hikollite Orihim
were launcD) operation
hanism cone chaser spe had two degrees apa
ollowing nav(GPSR) – R
pulated ford mate assm Standard ents and con
omponents
NDS-SIMA
Table 3. Ap
nd Hikobos
was launch
oboshi ~ 250me ~400 kg,
ched as onens.
nsisted of clpacecraft ha
motor drivart.
vigation senRange > 50
r the desigsembly/hardIDSS Inter
nfiguration o
and configu
AC are given
pproach par
shi Docking
hed on Nove
00 kg, 2m x1.5m x 1.7
e, and later
laws on thed three doc
ven latches.
nsors: 00m
gn of this d capture rface Definof SIMAC
uration of S
n in Table 3
rameters [7]
g Mechanis
ember 28, 1
x 2.3m x 1.8m x 0.7m
separated in
e chaser satcking latch
The target
docking ssystem sha
nition Docu
SIMAC [7]
3.
]
sm for Soft
1997.
8m
n orbit to p
tellite and modules at t spacecraft
system. Onall be as
ument (IDS
Docking
perform ren
handle bars120 degree
t had three
ne such per the S IDD).
ndezvous
s on the es apart. passive
19
– Ren– Pro
4.10.
The Orbsatellitegeneratother ondocking AST
HeiWei
NEXHeiWei
The capgrapplinspacecrengagem
ndezvous laoximity Sen
Orbital Ex
bital Exprese, Autonomion servicean orbit throug mechanism
TRO ght = 70 in,ight 2100 lbXTSAT ght = 40 in,ight 500 lbs
pture systemng arms anraft. The pment of the
aser Radar (nsor (PXS) –
Fig 12: Co
xpress: AST
ss was launcmous Space
able satellitugh a grappm.
, Width = 69bs (952.5kg
, Width = 39s (226.8kg)
m consists ond the drivassive sidegrappling a
(RVR) – Ra– Range : <
nfiguration
TRO-Next
ched in 200Transport R
te (NextSatpling arm th
9 in, Solar ag) un-fuelled
9 in, Solar a
of an active ve system; e provides arms; this si
ange :2m – 52m
of ETS 7 d
SAT
07. It consistRobotic Op). They had
hat is attache
array span=d, Propellan
array span=
side and a this side capture fe
ide would n
520m
docking spac
ted of two sperations (Ad the abilityed to ASTR
= 220 in. nt weight = 3
= 83 in.
passive sidwould noratures and
normally be
cecraft [18]
satellites, a ASTRO), any to berth a
RO or by thr
300 lb (136
de. The activrmally be p
a sensor a part of th
]
prototype snd a surrogand to dockree-pronged
6kg)
ve side contpart of theto indicate
he client spa
ervicing gate next k to each d Starsys
tains the e supply e proper acecraft.
20
The app
4.11.
(Miniat The sphexternainches (on the recharg
NEXTS
Ast
proach para
Fig 13:
Mini AER
ture Auton
herical Minil inspection(19 cm) in dother hand
ge at a paren
S
tro
meters of th
ParameteAxial CaptAngular CPitch/YawRoll Lateral MiLinear conPreload Capture TiCapture anInterface OActive MaPassive M
Stages of c
Cam
nomous Ext
i AERCam n and remotdiameter anhas a mag
nt spacecraft
Fig
he docking m
r ture Distanc
Capture Misaw
isalignmentntact velocit
ime nd Latch timOuter diameass ass
capture of th
travehicula
Free Flyer te viewing nd weighs agnetic dockft.
14: Mini A
mechanism
ce alignment T
t Tolerancety Tolerance
me eter
he orbital ex
ar Robotic
is a nanosatof human s
approximateking system
AERCam con
m is given in
Tolerance
e
xpress captu
Camera)
tellite-classspacecraft aely 10 poun
for autom
nfiguration
table below
Value 6 inches ± 5degrees ± 5degrees ± 2 inches3 cm/s2500lbf < 10s < 240s <18 inches < 50lbs < 25lbs
ure mechani
s Free Flyer as shown in nds (5 kg). Tated deploy
[20]
w.
ism [19]
intended fofigure 14.
The Mini Ayment dock
or future It is 7.5
AERCam king and
21
Dockin The subwhich cdockingmagnet approxielectromdraw thapproxirotationmagnetspacecrextendepolarityspacecrvehicle.
4.12.
OngoinsatelliteexpecteSince thshould primaryconnectmicro-sthe speccilia sursatelliteconnectof flexibenefit docking
ng Mechani
bsystems dcontains ang cluster, d
or an electimated by magnet andhe smaller imate alignnal alignmenically in the
raft togethered if rechargy of one eleraft. This sy.
Docking M
ng research es. As the sied that this he time spenbe as simp
y tasks: attat fuel, data satellite andcific attachmrface. Usinge will greatltions, couldible and cuof using m
g and alignm
ism:
developed inn electromadesigned fotromagnet aa 5-in. (
d within an spacecraft
nment priornt into onee docking pr. At this pge and refuectromagnetystem is cu
Fig 15
Mechanism
focuses oize of a satewill force mnt docking ple and quicaching the mand electric
d is dependement mechag micro-cilily speed up d be mated tumbersome micro-cilia ament techniq
nclude (1) agnet, a balor the smalas shown in12.7-cm) cangular mi
t toward thr to contace of 12 posiport, the baloint the ele
ueling are tot can be revurrently bei
: Docking m
Using MEM
on using Mellite shrinkmicro-satellsubtracts frck as possi
micro-satellcal servicesent on howanism. The ia to performthe docking
to fixed conumbilical
as a dockinques.
a docking ll lock mecller spacecrn figure 13.cube centersalignment he larger oct. Mechaniitions. Oncll-lock mecectromagneto be performversed to ping incorpo
mechanism
MS Actuat
MEMS cilias their abilitlites to docom the micible. When ite to the la. The first o
w quickly vesecond taskm the delicag operation
nnections oncords and g surface is
port, desigchanism, anraft, which . The captured on theof <30°. T
one and thical alignme the docki
chanism is at(s) are turnmed. Additi
provide a georated into
configurati
tors
a arrays forty to carry f
ck frequentlcro-satellites
docking marger craft, of these taskelocity adjuk is made siate final oriebecause th
n the main sattendant ps a reductio
gned for thend a service
contains eure envelopee front of
Thereafter, tis brings t
ment guidesing vehicle activated, wned off, andionally, durentle push tthe design
on [20]
r precisionfuel and powly to replens’ mission t
micro spaceand orientaks is largelyustments caimpler and fentation ande entire sate
satellite. Thpositioning on in mass
e larger spae probe; aneither a pee for this syf the dockthe magnetithe spacecrs provide th
has been cwhich locks d the servicring undockto separate of Mini A
n docking ower is reduc
nish their retime, this prcraft there
ating the saty the domaian be made,faster by thed positioninellite, with is alleviatessystems. Acompared
acecraft, nd (2) a rmanent ystem is
king-port ic forces raft into he final captured the two
ce probe king, the
the two AERCam
of pico-ced. It is
esources. rocedure are two tellite to in of the , and on e micro-ng of the its fixed s the use
A further to other
22
The arrshown ilayers tthan thefrom th
The mitwo polof the aand verthe arra
5 Co
This pathat in specificdockingterrestridevelop Refere 1) Do
Ber
2) Joegro
3) Ric200Sta
4) MiGra201Do
5) Ap
6) InteRev
rayed actuatin figure 16that make ue bottom CT
he substrate
cro-cilia armlyamide layactuator incrrtical displaay are made
nclusion
aper addressthe near fu
cations haveg technologial frontier ping this tec
ences
ocument Northing Dock
e Andersonound operati
chard J Mc01-01-2435ation”.
chael Hardacia, Peter 11 Constan
ocking with
pollo-Soyuz
ernational Dvision C, N
Fig 16
tors are def6. The curlinup the bimoTE. The theat low temp
m is placedyers. When reases, and cements at to move by
ses the evoluture. The e been illuy for expanis multifold
chnology is
. ESA-HSFking Mecha
n, Tim Brisions, “Deve
claughlin an, “The Co
dt, Carlos MUrmston. 1
nce, Germathe Interna
Test Proje
Docking SyNovember 20
6: MEMS ba
formable mng of the acorph structuermal stressperatures an
d into motioan electric the structurthe tip of th
y coordinati
lution of dosalient aspstrated. It m
nding the hod. The massa standing t
F-COU-027,nism (IBDM
scoe, Montyelopment of
nd Williamommon Ber
Mas, Anton14th Europeany, 28-30 ational Berth
ect , Informa
ystem Stand0, 2013
ased dockin
microstructurctuators is dures. For ths from this ind towards i
on using a hcurrent is p
re deflects dhe micro-ciing the defle
ocking mechpects of themay be notorizon of thesive investmtestimony f
, Rev 2.0, InM)”.
y Caroll , f the Interna
m H Warr, rthing Mech
nio Ayuso,ean Space M
Septembehing & Doc
ation for Pre
dards (IDSS
ng mechanis
res that curdue to the dhese devicesinterface cait when heat
heating resipassed throudownward. lia. Objectsections of m
hanisms froe docking ated that thee activities
ments made for its impor
nternational
et al., Jonsational Dock
Society of hanism (CB
, Daniel CoMechanism
er 2011, “cking Mecha
ess 1975, pg
S), Interface
sm [21]
rl out of thedifferent CTs the top laauses the acted.
istor, sandwugh this looThis produ
s in contact many actuato
om the 60’sapproaches e immense of the humaby the spac
rtance in the
l Space Stat
son Space king System
AutomotivBM) for In
ocho, Luis ms & Tribol
Validation anism and a
g 41
e Definition
e substrate pTE of the poayer CTE isctuator to cu
wiched betwop, the tem
uces both howith the su
ors.
, to the presalong withpotential o
an kind in tce faring nae decades to
tion, “Intern
Centre, Spm Standards
ve Engineernternationa
Mollinedology Sympoof Space
a Kuka Rob
n Document
plane as olyamide s greater url away
ween the mperature orizontal urface of
sent and h typical of space the extra ations in o come.
national
pace and s”.
rs 2001, al Space
o, Oscar osium – Vehicle
bot”.
t (IDD),
23
7) Pejmun Motaghedi, Siamak Ghofranian, The Boeing Company, Huntington Beach, CA, 90703, American Institute of Aeronautics and Astronautics, “Feasibility of the SIMAC for the NASA Docking System
8) Joseph A Bonometti, Space 2006 Conference, San Jose, CA, September 19-21, 2006,AIAA-2006-7239, “Boom Rendezvous Alternative Docking Approach”
9) Erica Lynn Gralla, Thesis for Master of Science in Aeronautics and Astronautics at Massachussets Institute of Technology 2006, “Strategies for launch and Assembly of Modular Spacecrafts”.
10) John Cook, Valery Aksamentov, Thomas Hoffman and Wes Bruner, “ISS Interface Mechanisms and their Heritage”.
11) Dotts H, Nolting R, Hoyler W, Havey J, Carter T and Jhonson R, Gemini Summary Conference, NASA SP 138, Houston, TX, 1967, pp42, “Operational Characteristics of the Docked Configuration”
12) Robert D Langley, 7th Aerospace Mechanism Symposium, NASA TM X-58016, Houston, TX, 1972, “The Apollo 14 Docking Anomaly”.
13) Apollo Operations Handbook, SM2A -03-Block II-(1)
14) http://www.russianspaceweb.com/docking.html
15) David S F Portee, NASA RP 1357, March 1995, “Mir Hardware Heritage”
16) http://space.stackexchange.com/questions/894/how-do-manned-spacecrafts-achieve-an- airtight-connection-while-docking
17) C A Hatfield, ISS Mars DC Conference, April 2011, “ISS-Enabling Exploration Through Docking Standards”
18) Oda, Mitsushige; Kawano, Isao; Kibe, Kouichi; Yamagata, Fumio; ETS-7, IEEE, “A Rendezvous Docking and Space Robot Technology Experiment Satellite-Result of the Engineering model development work”
19) Shane Stamm, Pejmun Motaghedi, “Orbital Express Capture System: concept to reality”
20) Fredrickson, Steven E. et al, NASA Technical Report, 2006, “AERCam Autonomy Intelligent Software Architecture for Robotic Free Flying Nanosatellite Inspection Vehicles”
21) Joel Reiter, Mason Terry, Karl F Bohringer, Mark Campbell,American Institure of Aeronautics and Astronautics, “Docking System for Micro Satellites Based on MEMS Actuator Arrays”
22) http://www.nasaspaceflight.com/2013/07/nasa-planning-module-relocat...
23) http://www.alternatewars.com/SpaceRace/SP-4205/Chapter_12.htm
24) Marco Caporicci, Peter Urmston, Oscar Gracia, Materials and Structures Symposium, 61st International Astronautical Conference 2010, “ IBDM: The International Berthing Docking Mechanism for Human Missions to Low Earth Orbit and Exploration”
25) http://history.nasa.gov/SP-4002/p3a.htm
24
Forthcoming Events
25
Forthccomingg Eventss
26
27
F
28th
The InterWB, Indithe Futucontributpapers arA. ProduB. ModeC. AutomD. SuppE. AdvaF. AdvanG. HumaH. EmerI. Smart
ConferencguidelinesJournal oBiomedica(InderscieScientific
TentChie
Gue
Tent
Forthco
Internation
rnational Socia are proud tre. The organte to the conre invited in, buct Developmeling and Simmation, Robo
ply Chain Manced Qualitynced Manufaan Aspects irging ScenarFactories
ce proceedings. Also a fewof Computatioal Robotics ence), InternaOrganization,
tative Speakeef Guest Prof. Raj est of Honour Professo
Universitytative SpeakeProfessor ChaProfessor AndUniversity, SinProf. Ashish DDr. Subir KumProf. AshitavaDr. Prabir K PDr. D. N. BadoDr. Pradeep K
ming Ev
nal Confere
http:
ety for Produto announce tnizing commitnference. Posbut not limitement and Sumulation otics and Hanagement an
y Systems Toacturing Procn Engineerinrios in Engine
g will be pubw selected andonal Design (Indersciencetional Journa, Journal of M
ers
Gill, Middleser r Hrishi Bera,Cy, UK
ers anan Syan, Undrew Yeh-Chinngapore Dutta, IITK mar Saha, IITDa Ghosal, IIScPal, DRHR, BAodkar, BARC,Kumar, VSSC
vents
ence on CAD6th –
://www.cem
uctivity Enhanthe 28th Intettee is calling ster submissiod to, the follostainability
ndling Systend Logisticsools and Quacesses ng Activitieseering Educa
CAL
Confeblished by Spd best papers& Engineerine), Internatioal of MechatroMechatronics a
x University, U
Colombia and
niversity of Wng NEE, Natio
D , Bangalore
ARC, Mumbai, Mumbai , Thiruvananth
D/CAM, Rob– 8th January
mkolaghat.o
cement (ISPErnational Conall researcheons are also owing topics:
ems
ality Manage
ation and Tra
LL FOR PAP
rence proceeringer througs will be againg (Elsevier),onal Journal onics, Electricand Intelligen
UK
South Bank
West Indies onal
hapuram
botics and F2016
org/cadcam
E) and Collegenference on Cers, engineersencouraged r
ement
aining
PERS
ConferenceProf DipakCollege of EMail: dipk dkm
edingsgh double bliin published , Internationl Manufacturcal and Compnt Manufactu
Key Dat 30th May 230th July 215th Augu31st Augu
Factories of t
mconf
e of Engg. & MCAD/CAM, Rob and scientistreporting on
e Chair k Kumar ManEngg. & Manuma@yahoo
ind review prin several repnal Journal ofring Technolputer Technoluring (Nova sc
tes
2015: Second2015: Acceptaust 2015: Finalst 2015: Final
the Future 2
Management, botics and Fats around thework in prog
ndal nagement, Ko.com,
n
rocess as perputed journalof Bio‐Mechalogy & Manlogy (IJMEC), cience)
d Call for Full ance of PAPERl acceptance ol paper submis
2016
Kolaghat, ctories of e world to gress. Full
olaghat,
r Springerls such astronics &nagementUniversal
Papers RS
of paper ssion
28
EdEdEd
A
ditorial Boaditor-in-Chieditorial Mem
Advertis
RecurDsolutionsfirst Multlinear finparadigm Today, RdisciplinaOptimiza
ard ef: Prof. S
mbers: Prof. SDr. R.
Prof. RProf. S
ement
Dyn, bases. Startingi-Flexible
nite elemem in the fie
RecurDyary CAE ation, all in
3
Santanu Das,Shankar SehgRanganath, SRanjit KumarShital S. Chid
ed on mug with justBody Dyn
ent methoeld of mult
yn continusoftware
n a single
301 Odeon
Kalyani Govgal, Panjab USpacecraft Mr Barai, Jadavdarwar, VNIT
http://ww
ulti-body dt multi-bonamics (Mods into itti-physics
ues to leathat integframewor
Function Ba(Contact: BPlaza, II Sec
vernment EnUniversity, ChMechanisms vpur UniversT, Nagpur [Z
ww.functio
dynamics,ody dynamMFBD) to its numeriCAE.
ad the mugrates MFrk.
ay DynamiB. Sridhar - ctor, 10, Dw
gineering Cohandigarh [ZGroup, ISROity, Kolkata [ZVP West]
onbay.co.k
is the CAmics in 20integrate mical integr
ulti-physicFBD, Lub
cs (I) Pvt. L 98110 6809
waraka, New
ollege, Kalyanonal Vice Pre Satellite Cen[ZVP East]
kr
AE softwa004, Recmulti-bodyrator, whi
cs CAE fiebrication, C
Ltd. 96) w Delhi 1100
ni esident (ZVPntre, Bangalo
are for mcurDyn by dynamicich opene
eld by creControl, a
075
P) North] ore [ZVP Sou
multi-physicbecame thcs and noed the ne
eating inteand Desig
uth]
cs he n-
ew
er-gn