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Design and Implementation of a Bespoke Robotic Manipulator for Extra-corporeal Ultrasound

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Design engineering a walking robotic manipulator for in-space assembly missions.

Manu Harikrishnan Nair¹, Mini Chakravarthini Rai¹, Mithun Poozhiyil¹

¹Lincoln Centre for Autonomous Systems, University of Lincoln, Lincoln, United Kingdom.

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Summary

This study introduces an End-over-end Walking Robot (E-Walker) for in-orbit assembly of large space structures like the Large Aperture Space Telescope (LAST). Dual E-Walkers demonstrate efficacy in complex space construction tasks through shared operations.

Keywords:

assembly challenges design engineering finite element analysis in-space assembly large aperture space telescope mission requirements walking robotic manipulator

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Area of Science:

Robotics and Space Engineering
In-space servicing and assembly
Advanced robotic systems for space infrastructure development

Background:

Growing demand for orbital infrastructure necessitates advanced in-space services.
Current space missions require more extensive orbital infrastructures beyond the International Space Station.
In-orbit assembly of large-scale assets like telescopes presents significant engineering challenges.

Purpose of the Study:

To introduce an innovative dexterous walking robotic system for in-orbit assembly.
To address the challenges of assembling modular, high-value assets in space.
To present a use case for assembling a 25m Large Aperture Space Telescope (LAST).

Main Methods:

Design and sizing of an End-over-end Walking Robot (E-Walker).
Structural finite element analysis and modal analysis for space and terrestrial applications.
Development of a mission concept of operations using dual E-Walkers for modular assembly.

Main Results:

Demonstrated feasibility of the E-Walker design through structural and modal analysis.
Validation of a scaled-down prototype for enhanced workspace robotic capabilities.
Simulated results confirm the efficacy of dual E-Walkers for complex in-situ assembly via task-sharing.

Conclusions:

The End-over-end Walking Robot (E-Walker) is a viable solution for in-orbit assembly tasks.
The proposed dual E-Walker system can effectively perform complex space construction operations.
This technology supports the development of future advanced space infrastructures and deep-space astronomy.