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Design and Testing of Torveastro: An Outer Space Service Robot

Daniele Cafolla Orcid Logo, Jorge E. Araque-Isidro Orcid Logo, Marco Ceccarelli Orcid Logo

Applied Sciences, Volume: 13, Issue: 2, Start page: 1187

Swansea University Author: Daniele Cafolla Orcid Logo

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DOI (Published version): 10.3390/app13021187

Abstract

Space robots are one of the most promising solutions for on-orbit servicing (OOS) duties like docking, berthing, refueling, re-pairing, upgrading, transporting, rescuing, and orbital trash disposal. Numerous enabling techniques and technological demonstration missions have been developed and complet...

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Published in: Applied Sciences
ISSN: 2076-3417
Published: MDPI AG 2023
Online Access: Check full text

URI: https://cronfa.swan.ac.uk/Record/cronfa62491
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Abstract: Space robots are one of the most promising solutions for on-orbit servicing (OOS) duties like docking, berthing, refueling, re-pairing, upgrading, transporting, rescuing, and orbital trash disposal. Numerous enabling techniques and technological demonstration missions have been developed and completed over the past two decades. There have been several successful manned on-orbit service missions, but unmanned service missions have not yet been conducted. Robotic maintenance continues to be an important area of investigation with numerous technical challenges. This report outlines the design and initial testing of Torveastro, an astronaut service robot. The specifications are provided concurrently with the design and simulation. In comparison with the simulation results, preliminary tests demonstrated promising behavior for future development.
Keywords: space robotics; service robotics; experimental robotics; robot design; robot testing
College: Faculty of Science and Engineering
Funders: This research was funded by POR FESR LAZIO 2014–2020, grant number A0375-2020-36517.
Issue: 2
Start Page: 1187

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