Conceptual Study on Aerospace Robotics & Mechatronics System

Abstract

Engineering-related knowledge is expanding at an exponential rate. Among the cutting-edge fields in electrical, mechanical, and computer engineering are robotics and mechatronics. In this article, we outline the justification for our development philosophy and detail the components that we took from open-source communities, embedded systems, cloud computing, and industry standard software engineering techniques. We discuss how to migrate from a prototype to a finished product, as well as the challenges that come with using frameworks.We will immediately relate to a payload development for the International Space Station (ISS) with all the complexities of qualification such as external requirements, constraints, and examples of use cases, along with the explanations, examples, and use cases provided. By demonstrating how we created and enhanced the robotics systems software from early prototypes to production grade-maturity, we intend to broaden the horizons of both roboticists and software/framework developers.

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Conceptual Study on Aerospace Robotics &
Mechatronics System
SHREYA MANE1
1Department of Research and Development, ASTROEX RESEARCH ASSOCIATION, Deoria, 274001- India
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ABSTRACT
Engineering-related knowledge is expanding at an exponential rate. Among the cutting-edge fields in electrical,
mechanical, and computer engineering are robotics and mechatronics. In this article, we outline the justification
for our development philosophy and detail the components that we took from open-source communities,
embedded systems, cloud computing, and industry standard software engineering techniques. We discuss how to
migrate from a prototype to a finished product, as well as the challenges that come with using frameworks.We
will immediately relate to a payload development for the International Space Station (ISS) with all the
complexities of qualification such as external requirements, constraints, and examples of use cases, along with
the explanations, examples, and use cases provided. By demonstrating how we created and enhanced the
robotics systems software from early prototypes to production grade-maturity, we intend to broaden the
horizons of both roboticists and software/framework developers.
Keywords: Space Robotics, Soft Robotics, Robotics, Aerospace.
Introduction
A new academic subject called "Mechatronics and Robotics Engineering" (MRE) is beginning to take shape. In the
past, rather than having a separate department or curriculum, courses in this discipline were placed in departments of
Mechanical Engineering, Electrical Engineering, or Computer Science [3-5]. Single, stand-alone courses have evolved
more recently into course sequences and concentrations, and full baccalaureate and graduate degree programs are now
available [6–10].The National Center for Education Statistics' creation of the Classification of Instructional Programs
(CIP) code 14.201 Mechatronics, Robotics, and Automation Engineering has given the discipline more legitimacy
recently [11]. A total of nine B.S. degrees in the subject are accredited by ABET as of October 2019: none in
automation engineering, 5 in mechatronics engineering, 3 in robotics engineering, and 1 in mechatronics and robotics
engineering.
At this time, interest in orbital services is rising on a global scale. Defense and private, commercial firms are also
driving forces in this, in addition to space agencies. As an illustration, consider Northrop Grumman Innovation
Systems' Mission Extension Vehicle (MEV) (formerly Orbital ATK). 2019 will see the docking of an IntelSat asset in
GEO, prolonging the asset's life by taking over orbit maintenance and attitude control duties.Services provided by
space robots go well beyond that. Robots in space are used for exploration, manufacturing, upkeep, service, and other
purposes. Robot technology has the benefit of being applied to issues that may or may not have been fully understood
at the time of the robot's design [12].
Robots are becoming more commonplace in organized and industrial environments; therefore, it is crucial that they be
present during space missions. Traditional robots' rigid construction allows for high force generation and, possibly,
excellent precision. However, stiff manipulators are heavy and need significant payload capacity if they are transported
by spacecraft.
It is a developing tendency in recent years to deploy soft manipulators, or robots made of soft material, as they may
better suit the needs of space exploration. Due to their versatility and low bulk, they can be employed in a wide range
of applications [13] and can move through difficult terrain, such as in extra-terrestrial conditions [14] with varying
gravity levels.

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Robotics & Mechatronics Systems
The automated assembly line revolutionized the area of robotics in the 1950s. Robots are now widely used in a variety
of industries, including entertainment, healthcare, space exploration, and defense. Over the past ten years, there has
been a lot of interest in the interdisciplinary topic of mechatronics, which includes mechanical systems, electronic
systems, and computer systems. In a certain sense, robotics might be viewed as a branch of mechatronics.
The key components of the greatest technological and industrial advances of the 20th and early 21st centuries are
robotics and mechatronics. Many technical systems now use computer control methodology as a result of the reducing
cost and size of electrical equipment, sensors, controllers, and computers, as well as their rising power and variety. Due
to innovation and value addition in areas like as energy efficiency, comfort, novelty, and environmental friendliness,
the incorporation of computer control increases economic competitiveness.
On-board computers in current cars, industrial automation, microelectromechanical systems, consumer products,
healthcare and assistive technology, environmental monitoring, and defense applications including surveillance and
missiles are a few examples.
As a result, robotics and mechatronics have emerged as a key engineering and technological frontier with numerous
applications in a range of fields. The Mars Rover, Space Shuttles, unmanned aerial vehicles, hybrid/fuel-cell cars,
AbioCor artificial heart, Aibo robot, iBot wheelchair, and Segway personal transporter are just a few instances of
modern technical marvels that are excellent examples of robotic and mechatronic systems.
Therefore, the study of mechanical, electrical, aeronautical, computer science, and robotics has become essential to
these fields of study. Other engineering disciplines, such as agricultural engineering (heavy equipment control), civil
engineering (intelligent buildings and transportation systems), chemical engineering (intelligent process control),
environmental engineering (monitoring and control), and biomedical engineering (microelectromechanical systems or
MEMS, and assistive technologies), have seen a significant increase in their applications to real-world systems in
recent years [15–17].
One of the most intriguing fields for soft robotics applications nowadays is the space sector. The usage of inflatable
space structures, sometimes known as "space inflatables," is frequently advantageous [18] and they are attractive
candidates for a variety of space applications. In actuality, typical rigid systems may not be the ideal option to do the
desired task in unstructured and poorly defined settings, such as those found in space [19]. Soft-material systems can be
conveniently transported in small, light packets that can be inflated for deployment when needed. The deployment
transition enables the structure to transform into a stable, load-bearing state.Soft-material systems can be conveniently
transported in small, light packets that can be inflated for deployment when needed. The deployment transition enables
the structure to transform into a stable, load-bearing state.
Low force output and difficulty in control are the main drawbacks of these systems, which are also caused by non-
linearities brought on by significant material deformation and metaphysical coupling. The system's entire kinematics
and dynamics are challenging complicated mechanical challenges. The design of soft manipulators can range from
completely flexible to rigid structures. To create a soft robot with the desired qualities, a good trade-off must be made
between the right material and actuation technique.
Aerospace problems can be solved utilizing deployable robotic manipulators made of soft materials, or "soft robotics."
Regarding the design, inflatable manipulators are frequently divided into the continuum [20] and articulated robot
categories. The latter can be made up of inflatable links with rigid [21] or variable stiffness joints [22] and entirely
flexible structures with flexible joints [23], for example employing pneumatic [24, 25] or tendon-driven actuators [26].
A soft robot's architecture, material, kind of actuation, and control structure are all considered in its design.
Aerospace on-orbit assembly underactuated robotics
Future spacecraft development will be influenced by key trends such large-scale structure, modularization, unstructured
environments, and intelligent environments. Only on-orbit robots might be used to implement space-heavy or large-
scale structures. The term "in-orbit assembly robot" describes the employment of intelligent robotics technology in
space to detach one or more spacecraft, space systems, or spatial structures or to join several spacecraft, space systems,
or structural components into a single space system [27, 28]. Tasks for on-orbit assembly robots include connecting,
replacing, building, assembling, or rearranging spacecraft, space systems, or space-based robots. Examples include
replacing spacecraft modules, installing and deploying battery arrays, antennas, and large independent bays for in-orbit
docking, and building substantial space stations. The exploration missions of spacecraft, particularly those that conduct
deep space exploration missions, are growing more and more difficult with ongoing advancement. Due to the

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limitations of the present launch capability, it is urgently necessary for the spacecraft to carry out lightweight design on
its own to satisfy the criteria of the launch vehicle in order to satisfy the needs of the exploration mission.
One of the key markers of a spacecraft is its weight. Three common lightweight techniques include new ideas,
lightweight materials, and structural optimization. A novel principle-driven approach called underactuated robots may
be lightweight since it uses fewer driving sources. An example robot system is the aerospace on-orbit assembly
underactuated robotics system [29].
According to their degree of freedom (DOF) in relation to the number of actuators, robots can be divided into three
categories: fully actuated robots, redundantly actuated robots, and underactuated robots. A mechanical system called an
underactuated robot, which has several benefits including light weight, low cost, and low energy usage, has less control
inputs than its DOFs. Robots using underactuated systems have been successful in the fields of kinetic analysis and
control.
Compliant Assistance and Exploration Space Robot (CAESAR)
Fig 1. Compliant Assistance and Exploration Space Robot (CAESAR)
The Institute of Robotics and Mechatronics at DLR is carrying on the work on on-orbit servicing that was started with
the German mission "Deutsche Orbitale Servicing Mission" (DEOS) [30] with the creation of the space-qualified
robotic system CAESAR.
Requirements
The seven degrees of freedom (DoF) robotic system is intended to be capable of collecting satellites in LEO/GEO, even
ones that are in tumbling, and/or non-cooperative states. Satellite construction, maintenance, and repair are made
possible by the agility and sensitivity of CAESAR. Numerous space investors became interested in the technology as a
result of the CAESAR development. On-Orbit Servicing (OOS) and Active Debris Removal collaboration between
Japan and Europe is of great importance to the Japan Aerospace Exploration Agency (JAXA) (ADR). The Applied
Physics Laboratory (APL) at Johns Hopkins University is considering using robot technology for the CORSAIR comet
sample return mission. In addition, a potential CAESAR technology transfer for commercial usage is currently being
thoroughly investigated by Airbus DS and Jena Optronik.
Table 1. CAESAR Requirements (excerpt)
Manipulator
Joint Position Sensor Resolution
82.830 inc / 320°
Motor Position Sensor Resolution after Gear
11.650.644 inc / 320°
Length of Manipulator arm
2.4m + x (7dof)
RA Mass
~ 60kg
Thickness of Aluminum Housing
2mm
Internal Databus
Deterministic, real-time EtherCAT with 100MBit/s
Range of Motion
320° for all axis
Joint output torque
80Nm for all axis
Joint velocity
Up to 10°/s
Environment
Operational Temperature
-20°C to +60°C
Non-Operational Temperature
-50°C to +80°C
Radiation Hardness
40krad TID (with additional shielding 100krad TID)
Mission Time
Up to 10 years

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The use-cases in Low Earth Orbit (LEO), Geostationary Earth Orbit (GEO), deep space missions like CORSAIR [31],
as well as on the Moon, are what drive the CAESAR design requirements. But despite being independent of current
missions, DLR RM is advancing the CAESAR design. The strategic objective is to develop a compliance-controlled
space arm to the Engineering Model (EM) level, showing and guaranteeing flight readiness in time for upcoming space
missions.
Position controlled joints and intelligent impedance are essential to CAESAR's outstanding performance. Each joint
serves as a building component for creating various robot kinematics based on the various mission objectives. The
number of joints and the length of the linkages affect the robot's capacity to scale. Due to CAESAR's seven degrees of
freedom, it may satisfy the requirements for dexterity and kinematic redundancy. The CAESAR arm can act in a
compliant manner while retaining TCP position by extending the impedance controller. If any portion of the robot
detects contact with the environment, the compliant behavior is activated. Compliance is a crucial safety factor in
challenging circumstances or when astronauts are nearby.
Conclusion
This study explores the current state of these subjects as broad worries about intelligent manufacturing and robotics
grow. Additionally, this study offered underactuated robotics and its conventional practical applications, such as
agricultural engineering and aeronautical on-orbit assembly. In this paper, a small team of engineers from several
projects and years of experience with space robotics are given along with how these experiences, lessons gained, and
requirements have influenced our approach to software engineering techniques.The interest in using service robotics in
space is growing as demand in orbital services increases globally. The versatile space-proof manipulation system
CAESAR provides the necessary tools to handle a range of service duties on cooperative and even hostile targets. The
assembly scenario that was demonstrated has demonstrated the level of dexterity that the robot system needs to offer
for a dependable, secure, and robust physical interface with the outside world.
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