Standard Interface for Robotic Manipulation of Payloads in Future Space Missions- SIROM Project Summary The main objecve of SIROM is to develop a standard interface that considers a set of connec- ons that allow coupling of payload to manipulators and payload to other payload. The realiza- on of a modular reconfigurable system depends, among other things, on interfaces, that include mechanical interfaces connecng the blocks to one other, electrical interface for power transmis- sion, thermal interfaces for heat regulaon and interfaces to transmit data throughout the satel- lite. Mul--funconal “Intelligent” interface will be considered to interconnect building blocks and also to connect to the satellite with a servicer. The standard interface will require standardizaon and modularizaon of the different compo- nents in an integrated form (where mechanical, thermal, electrical, data connecons are com- bined) or a separated form. The standard interface shall allow building up large clusters of mod- ules. APMs are considered for demonstraon, validaon and verificaon of all properes of the standard interface. An end-effector for a roboc manipulator will be designed according to the layout of the standard interface. The Modular Interface will take into account long duraon missions, no logiscs support and mis- sions composed of mulple payloads and architectures. Main benefits: Improve operaonal capacity Reduced logiscs with common and modular spares Common maintenance standards IF architecture flexibility: common infrastructure needed to support the modular design Mission flexibility (configuraon changes) Standardizes mechanical, data, electrical, thermal Interfaces Keep exisng standards where applicable Introduce in the design aspects related to interchangeability and interoperability The standard interfaces will allow to develop the SRC end goals. The output of this development will address the Future Low---cost Exchangeable / Expandable / EXtendable Satellite, which tar- gets the demonstraon of robocs servicing technology. SIROM Newsleer 01 Page 1 November 2017 The project receives funding from the European Union’s Horizon 2020 research and innovaon programme under grant agreement No 730035 SIROM Project Consortium
Transcript
Standard Interface for Robotic Manipulation of
Payloads in Future Space Missions- SIROM
Project Summary The main objective of SIROM is to develop a standard interface that considers a set of connec-tions that allow coupling of payload to manipulators and payload to other payload. The realiza-tion of a modular reconfigurable system depends, among other things, on interfaces, that include mechanical interfaces connecting the blocks to one other, electrical interface for power transmis-sion, thermal interfaces for heat regulation and interfaces to transmit data throughout the satel-lite.
Multi--functional “Intelligent” interface will be considered to interconnect building blocks and also to connect to the satellite with a servicer.
The standard interface will require standardization and modularization of the different compo-nents in an integrated form (where mechanical, thermal, electrical, data connections are com-bined) or a separated form. The standard interface shall allow building up large clusters of mod-ules. APMs are considered for demonstration, validation and verification of all properties of the standard interface. An end-effector for a robotic manipulator will be designed according to the layout of the standard interface.
The Modular Interface will take into account long duration missions, no logistics support and mis-sions composed of multiple payloads and architectures. Main benefits:
Improve operational capacity Reduced logistics with common and modular spares Common maintenance standards IF architecture flexibility: common infrastructure needed to support the modular design Mission flexibility (configuration changes) Standardizes mechanical, data, electrical, thermal Interfaces Keep existing standards where applicable Introduce in the design aspects related to interchangeability and interoperability
The standard interfaces will allow to develop the SRC end goals. The output of this development
will address the Future Low---cost Exchangeable / Expandable / EXtendable Satellite, which tar-
gets the demonstration of robotics servicing technology.
SIROM Newsletter 01 Page 1 November 2017
The project receives funding from the European Union’s Horizon 2020 research and innovation programme under grant agreement No 730035
SIROM Project Consortium
SIROM consortium has progressed smoothly on the following planned key activities:
Technology Review & System Requirements,
Preliminary Design and Modelling
Detailed design of reference implementation and related test
setup
The consortium has completed the design specifications document-
ed in a design definition file and associated interface control docu-
ment. Mission scenarios have been explored and defined. Several
design concepts of initial SIROM ideas were generated critically ana-
lysed and evaluated within the SIROM consortium to ensure an op-
timal SIROM will be generated to meet all requirements. A SIROM
concept image of the latest design is shown.
Project Progress Update
The project receives funding from the European Union’s Horizon 2020 research and innovation programme under grant agreement No 730035
Project Meetings
SIROM kick-off project meeting took place on 3rd November, 2016 in Bilbao, Spain. The meeting was attended by representa-tives from all 9 project partners as well as the Research Programme Officer of the Strategic Research Cluster on Space Robotics Technologies of the European Commission's Research Executive Agency, and the project officers from PSA, who coordinate the project PERASPERA (Latin meaning “Through hardships to the stars”). The objective of the kick-off meeting is to have a good and in-depth understanding of the project, clarification of the project partner roles, capability of each partners and project coordination.
SIROM Project Management Meeting 1 has
been successfully held in SENER, Bilbao, Spain. Pro-
ject representatives from all 9 partners attended the
meeting. The focus of the meeting is to define a
clear set of design requirements for SIROM connect-
or which will enable mechanical, thermal, data and
electrical intelligent interface. Project partners also
discussed possible mission scenarios and their re-
quirements in relationship to the connector.
Project Management Meeting 2 was held at Leonardo (Nerviano, Italy) on the 5th and 6th of April 2017. PM2 was held
successfully to review project progress over last quarter, address the consolidation of the System Requirement Specifi-
cations (SRS), and discuss the Product Tree, Block diagram and Interface.
SIROM Project Management Meeting 3 was held at DFKI (Bremen, Germany) on the 4th and 5th of October, 2017. Dur-ing PM3, the consortium reviewed project progress made by each partner over the last quarter, organised consortium after PDR so that the consortium can align the scope of their activities better with the activities identified at PDR led by SENER.
SIROM Newsletter 01 Page 2 November 2017
Project
Dissemination
Activities
The project receives funding from the European Union’s Horizon 2020 research and innovation programme under grant agreement No 730035
SIROM Newsletter 01 Page 3 November 2017
Project staff of SIROM attended two day workshop took place in Madrid at GMV’s premises where nearly 50 delegates from all six operational Grants attended the workshop. SIROM consortium disseminated its work to other OGs and it is an excellent opportunity to bring all stallholders together to develop a com-mon understanding of the challenge and clarify the interfaces among all OGs. It is also important to note that PSA played a critical role in sharing its vision with all partners of the OGs and it is believed that this will lead to a coherent and coordinated set of outcomes from all OGs, which will form the solid founda-tion for future European space robotic missions.
Public engagement activities
Mechatronics Forum Prestige Lecture of the Institution of Mechanical Engineers:
Title: A review of current European Space Robotics Research
Venue: IMechE Headquarter at 1 Birdcage Walk, London
https://events.imeche.org/ViewEvent?
Researchers from SIROM project attend-ed 14th Symposium on Advanced Space Technologies in Robotics and Automation (ASTRA 2017), which was held on 20-22 June, 2017, at Leiden, Netherlands. Fol-lowing paper was presented:
Wiebke Wenzel, Roberto Palazzetti, Xiu T Yan, Sebastian Bartsch, “Mechanical, thermal, data and power transfer types for robotic space interfaces for orbital and planetary missions – A technical re-view”.
Four papers have been presented at 68th International Astronautical Congress (IAC), which was held on 25-29 Septem-ber, 2017, Australia. The paper details are:
Roberto Palazzetti, Wiebke Wenzel, Sebastian Bartsch, Karen Donaldson, Xiu-Tian Yan, “Toward a multifunctional interface for future planetary and or-bital missions”, IAC-17.C2.2.7.
Thomas McMaster, Xiu T Yan, “The de-sign of a lightweight robotic arm link using functionally graded materials: a case study”, IAC-17.C2.IP.40.
Thomas McMaster, Xiu T Yan “A meth-odology for design of lightweight parts in harsh environments”, IAC-17.C2.9.5.
Scott Brady, Xiu T Yan, “Lightweight Means of Actuation for Use in Space-Based Robotics”, IAC-17.C2.7.4.
Publications
and
Conferences
Ms. Wiebke Wenzel presented a SIROM paper at ASTRA
Dr. Roberto Palazzetti presented a SIROM concept paper at IAC 2017
Project dissemination and exploitation: Prof. Xiu T Yan, [email protected]
SIROM Newsletter 01 Page 4 November 2017
The project receives funding from the European Union’s Horizon 2020 research and innovation programme under grant agreement No 730035
Project Results
Dissemination
SIROM Project
Contact Detail
SIROM project has produced a number of publically available documents to promote research result dis-semination. The first document is a Design Definition File (DDF) which describes the SIROM design and include the following information:
A). a brief description of the product and of the main technical requirements throughout its life cycle phases.
B). the description of the system or product design documentation, based on the product tree. DDF D2.9 OG5-D2 Design Definition File rev 1 is made available for public download.
Interface Control Document is also provided as the inputs from SIROM OG5 for the compilation with all of the Operational Grants (OG) that have been awarded in Call 1 of the SRC.
These OGs develop basic building blocks that, at later stage in the SRC, will be assembled into application
SIROM Project
Future Event
SIROM project will collaborate with other OGs to support the 69th International Astronautical Congress
(IAC) by creating a booth to showcase the research and development findings of SIROM project, to be
held at Bremen, Germany, on 1-5 OCT 2018. More information can be found at the conference web-
site: https://www.iac2018.org/
University of Strathclyde, with the support of Institution of Mechanical Engineers (IMechE) and Intuition-of Engineering and Technology (IET) Robotics & Mechatronics TPN will organise the 16th Mechatronics Forum International Conference-MECHATRONICS 2018: Reinventing Mechatronics in Sept, 2018. Detailed information can be found at conference website: http://mechatronicsforum.co.uk
PERASPERA
SRR / ICD
Workshop
A workshop took place in Madrid at GMV’s premises where nearly 50 delegates from all six operational Grants attended the workshop. This is an excellent opportunity to bring all stallholders together to devel-op a common understanding of the challenge and clarify the interfaces among all OGs. PSA also shared its vision with all partners of the OGs.
