Orbital hopping maneuvers with Astrobee on-board the International Space Station. (June 2023)

• Record Type: Journal Article
• Authors: Kwok-Choon, Stephen T.; Romano, Marcello; Hudson, Jennifer
• Is Part Of: Acta astronautica. Volume 207(2023)
• Page Start: 62
• Page End: 76
• Publication Date: 2023-06
• Subjects: Astrobatics -- Astrobee -- Orbital hopping -- Experiment -- Simulation; Astronautics -- Periodicals; Outer space -- Exploration -- Periodicals; Astronautics; Periodicals; 629.405
• DOI: 10.1016/j.actaastro.2023.02.034
• Languages: English
• ISSNs: 0094-5765

Abstract

Abstract: Interest in space robotic free-flyers for orbital tasks such as fabrication, observation, and on-obit servicing has led to research with Astrobee, a cuboid free-flying spacecraft-manipulator system on-board the International Space Station (ISS). Astrobee is equipped with a three degree-of-freedom robotic arm composed of a two-revolute-joint, two-link perching arm, with a three-finger gripper end effector. Astrobatics is a campaign of experiments designed to explore the use of Astrobee's robotic arm for orbital self-toss hopping maneuvers. This paper provides an overview of the Astrobee vehicle, followed by a description of the Astrobatics experiments in ground test facilities and on the ISS. Equations of motion for robotic self-toss maneuvers are developed. The results from the first Astrobatics experimental session are then compared against simulation, and the results from the second Astrobatics experimental session are provided, with a discussion of experimental observations and limitations, and followed by a description of future Astrobatics research. Highlights: Orbital hopping maneuvers aboard the International Space Station with Astrobee. Proximal and distal self-toss maneuvers with a three degree of freedom robotic arm. Comparison of flight data sets to a simulation self-toss model. Self-toss hopping maneuvers as a method of initial locomotion in space operations.