| الوصف: |
With the advances in Robotics, Automation and Autonomous Systems (RAAS), the horizon of spaceexploration has grown, and there is a need to develop space-qualified intelligent robots for future missions. Buildingupon the heritage of successful surface exploration rover and lander missions to the Moon, Mars and Asteroids, thespace community worldwide is now pushing the frontiers of in-orbit robotics. Doubtlessly, RAAS will facilitate arange of manufacturing, assembly, servicing and active debris removal missions. Resources published by spaceagencies and major companies worldwide clearly indicate that mankind will start witnessing in-orbit roboticmissions within the next decade. This includes but not limited to building modular Large-Aperture Space Telescopes(LAST), synthetic aperture radar, radiofrequency antennas, in-space power generation stations, mobile servicingstations for repairing and maintenance of satellites and possibly large-scale infrastructure for space tourism. Out ofthe many potential missions RAAS could support, in-orbit robotic assembly and construction of LAST is gainingmore popularity with the intent to understand the rate of growth of the cosmos and also for Earth Observation (EO).However, there are numerous technical challenges associated with assembling LAST in space, including itsmanufacturing and stowing into current and planned launch vehicles. To address these issues, a segmented designapproach for LAST is considered in this paper; the modular mirror units will be robotically assembled in orbit. Thein-space assembly of a modular 25m LAST mission concept is presented using a five Degrees-of-Freedom End-Over-End Walking Robot (E-Walker). The design and gait pattern of the E-Walker is introduced first. The keymission requirements including the requirements for the Robotic System, Space Telescope and Assembly arediscussed along with the strategies for scheduling the assembly process. Four main mission scenarios, subcategorisedinto eleven mission scenarios are discussed in detail with a ... |