Hybrid study of space robot By :

manipulator contact force Haile Simachew

BSc. In mechanical Engineering
minimization and contact
MSc. In mechanical engineering
analysis of the end effector of PhD. Student in Aerospace
 Contents of the
presentation
Introduction 01

Statement of the problem 02

Research Questions 03

Objectives 04

Methodology 05

Scientific contribution 06

Slide 00 PhD
1. Introduction
 numerous satellites launched and creates a
crowded space.
 Increasing amount of the satellites on orbit
creates problem and crowd space.
 Malfunctioning due to absence of energy or
components disability turns the satellite into
space debris.
 Debris impacts may cause damages.
 To mitigate the space debris free floating
space robot are design and discovered [1].
Slide 01 PhD
1. Introduction  Free-floating space robots for contact tasks is
very promising in space exploration.
 There are two major problems, namely, the
maximum contact force and the base
attitude disturbance caused by contact [2].
 Different authors studied on the contact force
and attitude disturbance minimization of free-
floating space robot.
 16 papers reviewed directly related to free
floating space robot contact force.

Slide 02 PhD
1. Introduction  However, these papers have various strength, they also
have different limitations.
 The paper [7], [2], [8], [9], [10], [1], [11], [12], [13],
[14], [15], and [16] assumes that the robot is operating
in a static environment and does not consider the
effects of dynamic forces or interactions with the
environment on the effective mass.
 these papers describe that the contact force will damage
the target or the robot manipulator, but they didn’t study
the relationship between the mechanical strength of the
target and robot manipulator with the maximum contact
force.
Slide 03 PhD
  [3] assumes a simplified model of the robot.
1. Introduction  [4] assumes that the robot has full knowledge of the
asteroid's properties.
 [5] assumes a simplified model of the space flexible
manipulator.
 [6] does not consider the effect of other factors that can
affect the contact force between the manipulator and its
environment.
 [2] tried to Identify potential risks associated with the contact
task but the authors did not explicitly mention studying the
maximum contact force or base attitude disturbance as
parameters or variables.

Slide 04 PhD
1. Introduction  In this particular research it is intended to combine the
mechanical design and the contact force minimization.
 Considering the real-world scenarios while simulating on
Robot operating system (Gazebo).
 The severity of the contact force based on the mechanical
strength of the contacting bodies will be optimized through
the comparison of the maximum contact force generated.
 Ultimate contact force that the material withstand will
compared with the contact force generated from
manipulator.
 The optimization algorithm intended to be robust on behalf
of the comparisons result.

Slide 05 PhD
2. Statement of the  The researchers studied on space robot
contact force minimization and attitude
problem control are essential but they are still infant.
 Didn’t combine the effect of this contact force
with the mechanical strength of the contacting
bodies.
 The robot is operating in a static environment
and does not consider the effects of dynamic
forces or interactions with the environment on
the effective mass.
 Quasi novel combination of the configuration
optimization and ultimate contact force
withstand by material.
Slide 06 PhD
 3
 What are the factors that affects the contact force
between the robot manipulator end effector and the
target?
 How to optimize the contact force generated from the
robot manipulator configuration?
Research  How the optimal contact force damage the space robot

Questions manipulator end effector and the target satellite?

 How to simulate the space robot contact force in real
world scenarios?

Slide 07 PhD
 4
 To modeling accurate continuous contact force with
updated hertzian contact theory.
 To optimize the configuration of the manipulator and
minimize the contact force.
 To combine the optimal contact force with the

Objectives
mechanical strength of the space robot and target
satellite.
 To simulate the configuration optimization and contact
force minimization virtually.

Slide 08 PhD
Methodology
5
Slide 09 PhD
 6
 Quasi novel approach that combines mechanical
design(strength) and configuration optimization
techniques for free-floating space robots performing
contact tasks.
 Simulation of the free-floating space robot on Gazebo in
Expected dynamic environment.
outcome  Combination if the configuration algorithm with

(Scientific mechanical design.

contribution)  Utilization of contact force that satisfies boundary

condition of hysteresis damping.

Slide 10 PhD
Slide 11 PhD