mechanical, thermal, data and power transfer types for robotic … · 2017. 7. 4. · movements,...

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SIROMGrant Agreement-730035

Mechanical, thermal, data and power transfer types for robotic space interfaces for orbital and planetary missions – a technical review

Wiebke Wenzel, DFKI GmbHRoberto Palazzetti, University of StrathclydeXiu T. Yan, University of StrathclydeSebastian Bartsch, DFKI GmbH

14th Symposium on Advanced Space Technologies in Robotics and Automation (ASTRA 2017) Session 5b, 21st of June 2017

Standard Interface for Robotic Manipulation of Payloads in Future Space Missions (SIROM)

2This project has received funding from the European Union’s Horizon 2020 research and

innovation programme under grant agreement No 730035.

• SIROM (project, goal)• Introduction• Existing Interfaces• Mechanical docking mechanism• Electrical connections• Data transfer• Thermal transfer• Conclusion and outlook

Content

ASTRA 2017, Session 5b, Wiebke Wenzel




• Is part as one of six operational grants (OG) of the project PERASPERA, which is funded, as part of the Horizon 2020 Space Work Programme 2014, a programme support activity (PSA) for the implementation of a strategic researc cluster (SRC) on space robotics technologies.

• Aims to realize an integrated interface for mechanical, data, electricaland thermal connectivity that allows reliable, robust and multi-functionalcoupling.

• Project partner: SENER, Airbus DS Ltd, Airbus DS GmbH, Thales AleniaSpace SPA, LEONARDO SPA, Strathclyde University, TELETEL, Space Application Service, Mag Soar S.L.

Project SIROM (OG5)Standard Interface for Robotic Manipulation of Payloads in Future Space Missions





Introduction

The purpose of this review is to establish• The existing standardised interface designs implemented in robotics and

spacecraft• The state-of-the-art for interface technology in the four areas of

mechanical, electrical, data and thermal transfer• Classification of methods used for each of the four technology areas• „Best-in-classes“ methods for each of the technology areas by means of

evaluation• Ideal methods suggested for each of the four technology areas• Main focus is on scalability• A main requirement of the SIROM-interface is the limited dimension of

the design with a diameter of 120 mm and a height of 30 mm. This means, that the transfer types needs to be small enough.





Existing interfaces (robotic and space)

Electro-mechanicalinterface (EMI) [4]

iBOSS [1]

MTRAN [3]

Space Station Remote Manipulator System (SRMS) [7]Ubot [5]

AMAS [2]

Berthing and dockingmechanism [6]





Existing interfaces

Table with some existinginterfaces in robotics and spaceapplications• Each chosen interface is

shown with its basicproperties

• Most interesting points arethe kind of mechanical, data, electrical and thermal transfer





Mechanical docking mechanismHook Clamp

Carribena

• Involves one side ofthe connector rotatinghook-like appendagesinto position around theother face of theconnector.• Locking is possible in passive manner (e.g. springs) or active withactuators

• Consists of a male and female part. • Male part pushesinto female part todisengange theinterference piece. Once the male piece ispast a certainthreshold, the femalepiece returns to itsdefault position.• Disengaging with an active unlock sequence

• Involves two or morechucks closing togetherconnect two interfaces• In a typical male-female interfacearrangement, the clampmay be only on thefemale side, but thereare ways to produce a hermaphroditic clampconnection

Roto-lock• Motorpowered type of lock. Requires a male/female interfacefor operation.• Main benefit: itinvolves one movingpart, which is highlybeneficial for spaceapplications





Advantages and disadvantages ofmechanical docking mechanism





Electrical connectionsPins

Tab

Slip rings

Wireless power transmission

• Involes the use oflong and cylindriaclpins with counterpartconnection holes. • Kind of latchingmechanism• Prevent lateral movements, but axial movement is still allowed

• Spring-loadedmetal components, that acts a simple touch interface forpower• No kind oflatching, but thespring-loads give theinterface excellentangular and axial tolerance

• Electrical contact in ring form, allowing fortheoretically infinite number of rotationalallowances• Needs more assemblyspace then other methodsof power conduits, but provide a more flexible solution for abstractrotation connection

• Power is acquiredon powerbeamers byuse of solar arrays

• DC power then converted to RF power totransmit to the rectantenna. A rectantennacaptures incident RF power and transforms it toDC power by a diode based converter• This systems increase the actual specificpower transferred to spacecrafts





Advantages anddisadvantages ofelectrical connections





Data transferMilbus

CANbus

SpaceWire

Standardized Serial Interface

• Advantage: time-division mutliplexed, very robust, used in many space applications, self-clocking, detecting many types ofcommunication error• Disadvantage: introducefrequency related issues at high data rates. Not suitable foroperations that requires high data rates

• Message-based half-duplex busin robotics and automitveapplication. Also used in severalspace applications• Main limitation is the bit rate, with a maximum of 3.7 Mbit/s in the CAN FD standard

• Connecting processing nodes via reliable full-duplex switched serialpacket links• Well suited to redundancy andmulti-node robotic systems• Limited by hardware design to50Mbit/s, but the underlying LVDS standard can perform faster of upto 3Gbit/s possible in concepts ofterrestrial hardware

• RS-422/423 standards werecreated as industrial serial busstandards and have proved vastlysuperioir perfomance due to the useof lower voltage and anddifferential signalling for higher bitrates





Data transferTime-Triggered Bus

Firewire

Time Triggered Ethernet• Four time-triggered common busarchitectures• SAFEbus• TTA (time triggered architecture)• SPIDER (scalable processor-independent design forelectromagnetic resilience)• Flexray

• Real-time high-speed datatransmission• Real-time standard satisfyingspace and military avionicsinterconnect needs• Bandwidth on demand• 1600 Mbps data rate with a 64-bit wide data path

• Intended to support all types ofapplications, from simple dataacquisition, to multimedia systemsup to the most demanding safety-critical real-time control systems, which require a fault-tolerancecommunication service• Two traffic categories: time-triggered traffic and standardevent-triggered Ethernet traffic





Thermal transferHeat Pipes

Fluid Loops

Water Sublimators

Pulsating Heat Pipes

• Transfer of heatby evaporation andcondensation of a working fluid, which

circulates due to the capillary forcedeveloped in a fine porous wick• Best manifested at large capacities

and heat-transfer distances

• Mechanical pumpedfluid loop, in conjunctionwith a deployableradiator, has enormouspotential for futurespacecraft thermal control

It used to transmit a large amount ofheat between two regions separated bylarge distances

• One of the latest type of highly efficient heattransfer systems.

• Experimental investigations are mainlyfocused on the applications of nanofluidsand other functional fluids

• Useful for spacecrafts, which working in warm environments

• In sublimation mode water freezes in thepores of a porous plate and heat removefrom the system by sublimation to thevacuum of space





Thermal transferSelf-rewetting Fluids

Hybrid single-phase, two-phase and heat pump thermal control system

• Working fluid in e.g. wickless heat pipes• Dilute aqueous solutions of high carbon alcohol• Most of the liquids show a decrease in the surface tension

with increasing temperaturem while self-rewetting fluidsexhibit the opposite behaviour

• Three different operational modes: single-phase, two-phase and heat pump• Single-phase and two-phase modes are used in coldenvironment• Heat pump is applied in hot environments, where a compressor is needed to raise the fluid temperature abovethat of the heat sink





Advantages anddisadvantages ofthermal transfertypes





Technology ReadinessLevel (TRL) of thelisted transfer types in this technical review, as well as thesuitability in orbital and planetaryenvironments





Conclusion and outlookMany existing interface designs target small modular robots, but the design principle can be up scaled.• The iBOSS is the closest existing prototype that integrates all the fourrequired main functionalities (mechanical, electrical,data and thermal)

Latching methods consist of four archetypes: hook, clamp, carribena androtational lock• Clamping/rotational locking methods are recommended.

Electrical power transfer methods included tabs, slip rings, pin arrangements andwireless power transmission• Scoop-proof and spring-loaded tab contacts are recommended• 100V bus minimum requirements are recommended as a benchmark

Data transfer protocols ranged from CANbus to SpaceWire and Firewire• The use of redundant twisted pairs is fullduplex recommended• Porposed data standard is SpaceWire with the addition of robust isolation

Thermal exchange methods are rarely applied in such a way of interface. Usual types are heat pipes or fluid loopsHeat pipes represent the simplest method and are already applied in spacecraftsFluid loop technology is capable of carrying on the largest amount of heat at the longest distance





Conclusion and outlookWithin the SIROM interface, all four transfer technologies will be integrated.

• Mechanical connection: clamp mechanism

• Electrical connection: standard pins (because of long development history andspace qualification)

• Data transfer: SpaceWire and CAN (SpaceWire due to the data rate capability, CAN due to the capability of plug and play for system control)

• Thermal transfer: as a thermal exchange heat transfer will be operate byconductive coupling and fluid connection

This technical review may help within future developments ofinterfaces used in orbital and planetary environments, as well as on terrestrial applications.





[1] M. Goeller, J. Oberländer, K. Uhl, A. Roennau, and R. Dillman, “Modular Robots for On-Orbit SatelliteServicing Modular Robots for On-Orbit Satellite Servicing,” in IEEE International Conference on Intelligent Robotics & Automation, 2016, pp. 2018–2023. [2] A. Sproewitz, M. Asadpour, Y. Bourquin, and A. J. Ijspeert, “An active connection mechanism for modular self-reconfigurable robotic systems based on physical latching,” in International Conference on Robotics and Automation, 2008.[3] S. Murata, E. Yoshida, A. Kamimura, H. Kurokawa, K. Tomita, and S. Kokaji, “M-TRAN: Self-Reconfigurable Modular,” in IEEE/ASM, 2002, vol. 7, no. 4, pp. 431–441.[4] W. Wenzel, F. Cordes, and F. Kirchner, “A robust electro-mechanical interface for cooperatingheterogeneous multi-robot teams,” in IEEE International Conference on Intelligent Robots and Systems, 2015, pp. 1732–1737.[5] S. Tang, Y. Zhu, J. Zhao, and X. Cui, “The UBot modules for self-reconfigurable robot,” in ASME/IFToMMInternational Conference on Reconfigurable Mechanisms and Robots, 2009, pp. 529–535.[6] P. Rank, Q. Mühlbauer, W. Naumann, and K. Landzettel, “The DEOS Automation and Robotics Payload,” in 11th Symposium on Advanced Space Technologies in Robotics and Automation (ASTRA), 2011, no. April, pp. 1–8.[7] M. Oda, M. Nishida, S. Nishida, A. Kanno, and N. Kubota, “Development of an EVA end-effector, grapple fixtures and tools for the satellite mounted robot,” in International Conference on Intelligent Robots and Systems, 1996, pp. 1536–1543.

References





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