Miniaturizing the robotic assembly of spacecraft: Isar development and on-orbit demonstration

Abstract

Robots are entrusted with complex assembly tasks in terrestrial applications where they are heavily utilized in assembly of a variety of goods from cars to cell phones. Although the same potential benefits of using robots for in-situ, on-orbit assembly has been recognized, the space robotics technology has not matured to a point where on-orbit assembly of satellites and other space assets has become a norm. Because most space systems are expensive, delicate, and difficult to replace the assembly of larger spacecraft has been primarily the job of astronauts. Current space robotics are heavily focused on teleoperations, one-off demonstrations, and require a large amount of resources to develop and operate. The U.S. Naval Academy (USNA) is developing a program which aims to demonstrate semi-autonomous robotic assembly capabilities on-orbit using the Intelligent Space Assembly Robot System (ISAR).