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robot arm for assembling components in space by zipnuts
Summary
The monomers combine with each other using covalent bonds to form larger molecules known as polymers. In the same way, huge equipment will be built in space . First, small-sized units will be formed and these units will be connected by ZipNuts. The process will be carried out by highly efficient and accurate robotic arms.
How I Addressed This Challenge
The Main Idea:
The basic idea is that instead of making bulky equipment and sending it into space. It is better to manufacture small units, and thus the process of sending them into space will be easier, and after that these units are assembled using robotic arms.
The Robot Arm:
A serial robot arm consists of a chain of links that are moved by joints which are actuated by motors. it will be At least six degrees of freedom to enable the robot hand to reach an arbitrary pose (position and orientation) in three dimensional space.Torque and speed of arm motors will be determined based on component weights. Also, arm size will be determined based on the surrounding environment.
End Effectors:
Stewart Platform:
Stewart platform is a parallel manipulator robot utilized to control the position of an object. The typical Stewart platform has a platform, a base platform, and six limbs which could provide six degrees of freedom (DOF) illustrated, three linear movements, lateral, longitudinal, and vertical (x,y,z), and three rotations, pitch, yaw, and roll.
The proposed Stewart platform possesses various advantages, such as large actuation force and high robustness with a simple mechanical structure.
The circular Upper platform:
There are two options
1.Electromagnet:The components will be caught by the magnet and released when the electric current is turned off.
2.Latching End Effector:These pieces contain cables that tighten to ensure a strong grip. They allow the robotic arm to firmly grasp objects or latch itself to the Station.
Connectors:
i have inspired by nasa ZipNut technology This innovation improves both the speed and accuracy of the task. That translates into a big savings in many work environments, it has the ability to work in spite of problems like rust, paint and damage that would normally prevent traditional connections from being made.can be installed by simply pushing it onto a bolt in one motion, eliminating the difficulty of threading a traditional nut. When the ZipNut reaches the end of the bolt's threads, it can then be tightened by simply twisting it.
How I Developed This Project
i'm studying mechatronics,robotics and automation engineering and interested in robotic arms.So, i found this challenge is compatible for me and i can use what i have learned to find new ideas for assemblying components in space
The Software :
i used ROS, which means Robot Operating System, is a set of software libraries and tools to help you build robot applications. The point of ROS is to create a robotics standard, so you don't need to reinvent the wheel anymore when building a new robotic software.
tools and libraries of ros provide mapping ,visualizing,simulation and more
rosbag tool:
A rosbag or bag is a file format in ROS for storing ROS message data. These bags are often created by subscribing to one or more ROS topics, and storing the received message data in an efficient file structure.
aproach of the project
For example, we want to build a space station
The space station will be built on the planet Earth by robotic arms, the arms will be controlled using any control tool, the motion of those arms will be recorded via the rosbag tool.
in the space
The motion of the recorded arms will be actuated by the rosbag tool and the arms will construct the space station autonomously
explanation
The arms will be like the actors. The actors memorize the scenario, master it, do rehearsals, and then perform on stage. The robot arms will do the same, but they will act in the space ! .
My Own Robot Arm
i designed a 6 DOF robot arm and control it by joystick using ROS & Arduino.
the end effector doesn't attached .
https://www.youtube.com/watch?v=ganBug_k__Y
when i control the arm with joystick to do such a process the motion of the arm was recorded so the arm can do it again autonomously without using the joystick.
How I Used Space Agency Data in This Project
The standard process of on-site assembly used for orbital missions on the ISS, and the issues commonly encountered there, as well as the limitations of manned operations guided me in defining the purpose of the project and the feasibility of used techniques.also nasa ZipNut technology helped me in my idea.
Project Demo
Project Code
Data & Resources
[1] https://www.nasa.gov/missions/science/zipnuts.html
[2] https://exoplanets.nasa.gov/internal_resources/1018/
[3] https://exoplanets.nasa.gov/internal_resources/948/
[4] https://exoplanets.nasa.gov/exep/technology/in-space-assembly/
[5]https://space.skyrocket.de/doc_sat/iss.htm
[6]https://en.wikipedia.org/wiki/Canadarm