A project in the Advanced Design Program at the University of Arizona is described. The project is named the Autonomous Space Processor for Orbital Debris (ASPOD) and is a Universities Space Research Association (USRA) sponsored design project. The development of ASPOD and the students' abilities in designing and building a prototype spacecraft are the ultimate goals of this project. This year's focus entailed the development of a secondary robotic arm and end-effector to work in tandem with an existent arm in the removal of orbital debris. The new arm features the introduction of composite materials and a linear drive system, thus producing a light-weight and more accurate prototype. The main characteristic of the end-effector design is that it incorporates all of the motors and gearing internally, thus not subjecting them to the harsh space environment. Furthermore, the arm and the end-effector are automated by a control system with positional feedback. This system is composed of magnetic and optical encoders connected to a 486 PC via two servo-motor controller cards. Programming a series of basic routines and sub-routines allowed the ASPOD prototype to become more autonomous. The new system is expected to perform specified tasks with a positional accuracy of 0.5 cm.


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    Titel :

    Autonomous Space Processor for Orbital Debris (ASPOD)


    Beteiligte:
    Ramohalli, Kumar (Autor:in) / Mitchell, Dominique (Autor:in) / Taft, Brett (Autor:in)

    Erscheinungsdatum :

    01.01.1992


    Medientyp :

    Report


    Format :

    Keine Angabe


    Sprache :

    Englisch




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