The Set Up| Let's Connect
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JARVIS (Joining All Resources Via Space)
Summary
JARVIS is an assemble system that consists of two important systems: The Assemblers (2) for subjection and the Main Avenger (1) for precision, which will work for the correct assembly of parts or equipment in space. JARVIS system has 8 degrees of freedom per arm. JARVIS has a unique ability of deploying all its arms from a single main tube, having a transport size of 13.5m. The JARVIS coupling system is made up of the international standard model (DOCKING). JARVIS seeks to promote future technologies that allow us to further investigate unknown space fantasies and unique events in the universe, also promoting the correct development of more stations and space hotels.
How We Addressed This Challenge
Development
ASSEMBLERS’ CONCEPT
A pair of robotic arms with clamps both automated and with remote control interface, which have quite unlimited rotational and extension movements. The assemblers also have sensors and cameras to help in the assembly of components of a device. They are built based on materials with high resistance to outer space conditions such as carbon fiber and Kevlar. Assemblers concept also have solar panels for capturing solar energy for the operation of the servo motor.
MAIN AVENGER CONCEPT
An independent robotic arm from the same root of the assemblers. It has smaller dimensions than an assembler to provide greater precision for specific tasks. It also has an internal heat generation system for solder removal tasks.
JARVIS
The JARVIS system working together is a system that consists of 3 robotic arms, 2 assemblers and the main avenger, each arm with 6 degrees of freedom (forward/back and yaw), and the secondary tube or torso that has 2 degrees of freedom (up/down and yaw). In total the system has 20 degrees of freedom. Each arm has a shoulder, elbow, and wrist, which have a camera. In the secondary tube there is a rotating camera, and in the base, there are 2 alternate cameras, each one with a 180° view that through an algorithm produces a 360° image.
The joints are built with servomotors, which allow 360 ° yaw movements, up / down movements of almost 12 m in length.
At the base, it has deployable solar panels.
Finally, the system has different types of sensors, including:
- Force-moment sensor for touch sensation.
- Proximity sensor for alerts and blocking of movements that can generate collisions
- Proximity sensors with ultrasonic concept technology for 3D mapping of nearby surfaces so that the system is aware of the environment.
- Internal and external temperature sensors
Next, we present a table in which we highlight different characteristics of the JARVIS composition, reflecting differences and improvements of JARVIS, taking as reference the Canadarm 3 (robotic arm currently used in the outer space for repairs). It is worth noting, both arms do not have the same function, it is mostly a comparison to enhance improvements in the movements of the arm and its additional systems.
Importance
The idea of working together between both concepts is a project to promote spatial creation but considering different space conditions that present a challenge, such as: vacuum, drastic temperature changes, zero gravity, among others.
Important JARVIS considerations are taking advantage of spatial conditions, such as low temperatures for cold welding, which will be properly controlled by external and internal temperature sensors. Also, it has a heat generator system to remove unexpected cold welds.
What does it do?
The JARVIS system will do the pairing process for 2 components of a device. Each assembler is responsible for taking a component. The assemblers slowly approach a certain position close enough, determined by the system and the sensors. Once in this position, the next step is going to depend on which type of final assembly does the device requires. If it is cold welding, the assemblers keep the components together for a certain amount of time (which depends on the external temperature for the components to melt together); on the other hand, if it is by screwing, the main avenger comes into play to provide more precision adjustments and precise screwing.
If it is necessary the removal of 2 components already attached, the main avenger will carry out 2 tasks depending on the type of coupling. If it was cold welding, JARVIS will use the main avenger clamps to wrap the joint place and provide high levels of heat so that 2 layers can distinguished themselves and the assemblers will separate them automatically; but if it was screwing, the main avenger will have its reverse screwing system available for the removal of the screws and the assemblers will carry out their function of separating the parts.
How does it work?
The JARVIS system is based on principles of physics, mechanics, programming, and architecture. It mainly has for the connection of a specific energy source, although it has solar panels and interfaces for transforming that energy obtained from the sun and use it. Independent of the energy used, it will carry out the movement of the motors and servomotors to produce the kinematics of the arms. As already mentioned, the system is automated, but it also has a remote-control interface for more specific movements of the user. Getting into programming a bit, it has many sensors, transmitters and receivers that guide the movements of the arms.
First, by means of proximity sensors in each clamp of the assemblers, the clamps recognize the distance they need to be extended or contracted. Continuously and slowly, they settle until the force-moment sensor indicates contact with the components. If there is any failure in the system, the system has alarms and feedback sensors to send alerts and block the system in order to avoid catastrophes. As already mentioned, the system has sensors that generate a 3D image of the environment in case it is handled manually, to provide a vision of objects or something unforeseen to prevent collisions.
As the next part of the process, the main avenger comes into operation, which works with even more specific sensors, proximity, and movement, which will allow screwing and unscrewing movements. This arm has an even more independent and precise movement in terms of the servomotors responsible for the joints.
If it is necessary to remove welding, the system takes more energy and start the heat generators, which will reach a specific temperature programmed depending on the material of the component to be removed and also taking the temperature sensors as a reference.
Goal of JARVIS
JARVIS system seeks to generate the initial impulse to provide a takeoff to the area of space creation, of great importance and potential for the future development of space devices and machinery, such as the assembly of exploration devices, telescopes and satellites, until reaching to the development of large stations that allow the execution of even more advanced space missions and in a lesser amount of time.
How We Developed This Project
Inspiration
On a daily basis, human civilization advances even more according to the creations of new technologies that help us understand the planet; this terrestrial exploration system is carried out with well-known methods and with devices that are easy to access and use, but what happens in space explorations?
Regarding the subject of exploration and outer space knowledge, the human being still has quite primitive knowledge that does not develop in the most efficient or fast way. This slow process occurs because of the low development of exploration technologies, but because of the gap that exists in the path between the terrestrial part of planet Earth and space; yes, how to bring technology to space? Space rockets can only carry a certain amount of weight, so it is exceedingly difficult to transport a lot of technology into space.
All these factors are the source of our inspiration, the JARVIS prototype, seeks to close that gap of exploration technology that exists in space, providing an automated system for joining components to build the exploration technologies that we have on Earth and that it is difficult to get into space due to the load limit (space or dimensions) of a space rocket.
Approach
As a group, we take on this challenge mainly from a design and architectural point of view, but always considering the outer space conditions (temperature, vacuum, zero gravity). Similarly, other perspectives were considered such as optimization (for cost reduction, greater efficiency and taking advantage of outer space conditions such as temperatures). Always thinking of a more efficient and effective way for astronauts to handle these types of tasks and to avoid difficulties that cannot be addressed.
Used Tools (Software, hardware, etc.)
In the creation of JARVIS prototype, we used 2 design software, these were: SketchUp and SOLIDWORKS.
Regarding the slide presentation of the chosen challenge, we used Prezi.
For communication between The Set Up group collaborators, we used: Google Meet.
Problems and Achievements
The development of a design to maintain in the terrestrial conditions, it can be said that it is less difficult because of the knowledge about the terrestrial conditions; at the time of immersing ourselves in a new environment, outer space, it was a challenge for the group to restructure our ideas of the prototype taking into account the outer space conditions. An example could be the materials for the construction of the design, which we had to do a lot of research to obtain information on materials resistant to outer space conditions.
But, after thinking so much about restructuring, we took another perspective which was to design our system not only considering the resistance to space conditions, but also taking advantage of them. These are several of the advantages we take from outer space with the JARVIS system:
- Attach solar panels to manage energy use and take advantage of solar energy.
- Use of low temperatures to join pieces by cold welding.
Beside of those advantages from outer space conditions, we made JARVIS prototype with very specific organization of the dimension of the arms in order to allow the system to present as a tube of 13.5m from which all the arms come out, making it more compact and easy to transport.
How We Used Space Agency Data in This Project
To be more punctual regarding the operation and design of the JARVIS system, we carried out a great search through the web of different space agencies.
The resource page of the selected challenge “Let’s connect” provides information on the NASA mission where they use ZipNuts™, a tiny docking technology used by astronauts for assembly and repairment work; this piece of details gave us the idea to create out third arm, the main avenger, which is independent and carries out more precision work and also has smaller clamps for coupling tiny components. (NASA Innovative Partnerships Program, 2004)
On the European Space Agency (ESA) website, we obtained precise information on the international standard for spacecraft docking of modules or parts that are integrated into the space station or satellites. This information provided us with great clues on how to design the base of the JARVIS system. (The European Space Agency, 2010)
Finally, we used information from the Canada Space Agency (CSA) website. Information on canadarm 1, canadarm 2 and canadarm 3 was collected, to provide a greater overview of the selection of construction materials that have resistance to spatial conditions and how to make JARVIS more efficient. (Canada Space Agency, 2019)
Project Demo
This link provides the presentation of JARVIS: https://prezi.com/view/IjeAYFivTvesaq73Eubi/
Data & Resources
References
Canada Space Agency. (2019, May 20). CSA. Retrieved from CSA: https://asc-csa.gc.ca/eng/iss/canadarm2/canadarm-canadarm2-canadarm3-comparative-table.asp
NASA Innovative Partnerships Program. (2004, October 29). NASA. Retrieved from NASA: https://www.nasa.gov/missions/science/zipnuts.html
The European Space Agency. (2010, October 19). ESA. Retrieved from ESA: http://www.esa.int/Science_Exploration/Human_and_Robotic_Exploration/New_international_standard_for_spacecraft_docking