Design and Testing of Torveastro: An Outer Space Service Robot

Cafolla, Daniele; Araque-Isidro, Jorge E.; Ceccarelli, Marco

doi:10.3390/app13021187

Journal article 596 views 76 downloads

Design and Testing of Torveastro: An Outer Space Service Robot

Daniele Cafolla

, Jorge E. Araque-Isidro

, Marco Ceccarelli

Applied Sciences, Volume: 13, Issue: 2, Start page: 1187

Swansea University Author: Daniele Cafolla

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DOI (Published version): 10.3390/app13021187

Abstract

Space robots are one of the most promising solutions for on-orbit servicing (OOS) duties like docking, berthing, refueling, re-pairing, upgrading, transporting, rescuing, and orbital trash disposal. Numerous enabling techniques and technological demonstration missions have been developed and complet...

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Published in:	Applied Sciences
ISSN:	2076-3417
Published:	MDPI AG 2023
Online Access:	Check full text
URI:	https://cronfa.swan.ac.uk/Record/cronfa62491
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first_indexed	2023-03-01T16:59:04Z
last_indexed	2023-03-02T04:17:36Z
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spelling	2023-03-01T17:00:38.2720993 v2 62491 2023-02-03 Design and Testing of Torveastro: An Outer Space Service Robot ac4feae4da44720e216ab2e0359e4ddb 0000-0002-5602-1519 Daniele Cafolla Daniele Cafolla true false 2023-02-03 SCS Space robots are one of the most promising solutions for on-orbit servicing (OOS) duties like docking, berthing, refueling, re-pairing, upgrading, transporting, rescuing, and orbital trash disposal. Numerous enabling techniques and technological demonstration missions have been developed and completed over the past two decades. There have been several successful manned on-orbit service missions, but unmanned service missions have not yet been conducted. Robotic maintenance continues to be an important area of investigation with numerous technical challenges. This report outlines the design and initial testing of Torveastro, an astronaut service robot. The specifications are provided concurrently with the design and simulation. In comparison with the simulation results, preliminary tests demonstrated promising behavior for future development. Journal Article Applied Sciences 13 2 1187 MDPI AG 2076-3417 space robotics; service robotics; experimental robotics; robot design; robot testing 16 1 2023 2023-01-16 10.3390/app13021187 COLLEGE NANME Computer Science COLLEGE CODE SCS Swansea University This research was funded by POR FESR LAZIO 2014–2020, grant number A0375-2020-36517. 2023-03-01T17:00:38.2720993 2023-02-03T14:14:21.0277976 Faculty of Science and Engineering School of Mathematics and Computer Science - Computer Science Daniele Cafolla 0000-0002-5602-1519 1 Jorge E. Araque-Isidro 0000-0002-7621-887x 2 Marco Ceccarelli 0000-0001-9388-4391 3 62491__26722__69f107f78cb140a984ab1fad451ea485.pdf 62491_VoR.pdf 2023-03-01T16:59:43.3514044 Output 6920524 application/pdf Version of Record true © 2023 by the authors. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license true eng https://creativecommons.org/licenses/by/4.0/
title	Design and Testing of Torveastro: An Outer Space Service Robot
spellingShingle	Design and Testing of Torveastro: An Outer Space Service Robot Daniele Cafolla
title_short	Design and Testing of Torveastro: An Outer Space Service Robot
title_full	Design and Testing of Torveastro: An Outer Space Service Robot
title_fullStr	Design and Testing of Torveastro: An Outer Space Service Robot
title_full_unstemmed	Design and Testing of Torveastro: An Outer Space Service Robot
title_sort	Design and Testing of Torveastro: An Outer Space Service Robot
author_id_str_mv	ac4feae4da44720e216ab2e0359e4ddb
author_id_fullname_str_mv	ac4feae4da44720e216ab2e0359e4ddb_***_Daniele Cafolla
author	Daniele Cafolla
author2	Daniele Cafolla Jorge E. Araque-Isidro Marco Ceccarelli
format	Journal article
container_title	Applied Sciences
container_volume	13
container_issue	2
container_start_page	1187
publishDate	2023
institution	Swansea University
issn	2076-3417
doi_str_mv	10.3390/app13021187
publisher	MDPI AG
college_str	Faculty of Science and Engineering
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department_str	School of Mathematics and Computer Science - Computer Science{{{_:::_}}}Faculty of Science and Engineering{{{_:::_}}}School of Mathematics and Computer Science - Computer Science
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description	Space robots are one of the most promising solutions for on-orbit servicing (OOS) duties like docking, berthing, refueling, re-pairing, upgrading, transporting, rescuing, and orbital trash disposal. Numerous enabling techniques and technological demonstration missions have been developed and completed over the past two decades. There have been several successful manned on-orbit service missions, but unmanned service missions have not yet been conducted. Robotic maintenance continues to be an important area of investigation with numerous technical challenges. This report outlines the design and initial testing of Torveastro, an astronaut service robot. The specifications are provided concurrently with the design and simulation. In comparison with the simulation results, preliminary tests demonstrated promising behavior for future development.
published_date	2023-01-16T04:22:09Z
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score	11.037319

Design and Testing of Torveastro: An Outer Space Service Robot

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