Discussed here is the autonomous berthing of a Work Attachment Mechanism/Work Attachment Fixture (WAM/WAF) developed by NASA for berthing and docking applications in space. The WAM/WAF system enables fast and reliable berthing (unberthing) of space hardware. A successful operation of the WAM/WAF requires that the WAM motor velocity be precisely controlled. The operating principle and the design of the WAM/WAF is described as well as the development of a control system used to regulate the WAM motor velocity. The results of an experiment in which the WAM/WAF is used to handle an orbital replacement unit are given.


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    Title :

    Autonomous Berthing/Unberthing of a Work Attachment Mechanism/Work Attachment Fixture (WAM/WAF)


    Contributors:

    Publication date :

    1992


    Size :

    8 pages


    Type of media :

    Report


    Type of material :

    No indication


    Language :

    English





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