Report

Teaser, summary, work performed and final results

Periodic Reporting for period 1 - SIROM (Standard Interface for Robotic Manipulation of Payloads in Future Space Missions)

Teaser

The SIROM project aims to realize a set of integrated and inherently optimized interfaces for mechanical, data, electrical and thermal connectivity that allow reliable, robust and multi-functional coupling of payload to robot manipulators, payload to other payload or client to...

Summary

The SIROM project aims to realize a set of integrated and inherently optimized interfaces for mechanical, data, electrical and thermal connectivity that allow reliable, robust and multi-functional coupling of payload to robot manipulators, payload to other payload or client to server. SIROM project main ambition is to develop key technologies for common building block connector that would enable a demonstration of autonomous robotic systems at a significant scale as key elements for on-orbit satellite servicing and planetary exploration. SIROM project is advanced the state of the art by investigating multi-functional, well integrated and “Intelligent” IF (mechanical, electrical, data, thermal) to be used as standard building blocks to connect modules within a robotic system and also to connect to the satellite with a servicer.
The standard IF is realized in an integrated form (where mechanical, thermal, electrical, data connections are combined and geometrically optimized for these 4 functionalities). In any case, this standard IF will allow the creation of large clusters of modules. The IFs for modular compatible spacecraft for this OG has been designed to specific criteria identified for both orbital robotics and planetary rovers. These will allow them to be deployed for various applications in space by assembling clusters of modules of different functions to realize highly modular and functionally optimized spacecrafts.
The SIROM project applies a novel approach and consider a number of unique design requirements:
• IF standardization and modularization of the different components in an integrated form (where mechanical, thermal, electrical, data connections are combined) or a separated form.
• To allow creation of large clusters of modules based on the Standard IF. APMs are considered for demonstration, validation and verification of all properties of the standard IF. APMs are connected via standard IF to other modules and satellite bus.
The SIROM primary objective is the realization of a prototype of a standard robotic IF consisting of: a mechanical IF, an electrical IF, a data IF, a thermal IF and an IF controller. This initial concept is based on a unique APM definition applicable to both scenarios (Orbital and Planetary), with the following components:
• Mechanical IF composed by grappling system, guiding/mating/de-mating system, Latching system and sensors for IF definition.
• Electrical connector IF system.
• Data connector IF system.
• Thermal ports IF system that allows a thermal coupling of modules at different temperatures.

Work performed

The overall strategy of the SIROM work plan has been developed in five main phases:
- Phase 1: System Engineering. To develop the project requirements based on final end users inputs and the technology review performed by the research center / university.
- Phase 2: Design & Analysis activities. In this phase the mission was to perform a Preliminary Design of the APMs, IFs and end effector, following by the Detailed Design of the reference implementations to be developed.
- Phase 3: Manufacturing & Testing for Design Consolidation. Mission was the manufacturing of the reference implementations for both target scenarios and the validation of the concepts developed at component level to confirm the design consolidation.
- Phase 4: Test execution at Platform level. To demonstrate the adequate integration in the tests platforms to be provided by OG6. For the orbital demonstration it was performed first at SIROM OG5 level (AIRBUS DS) and finally at FACILITATORS OG6 (DLR). For the planetary demonstration, due to some problems with Sherpa availability at OG6 (DFKI), finally the tests have been re-defined and performed at SIROM OG5 level (SA).
- Phase 5: Project results assessment. Project results assessment is performed and the roadmap for further technologies development and exploitation is provided.

The main results of SIROM:
- Successful demonstration of orbital and planetary cases using SIROM IF as baseline: TRL 3/4
- Fulfilment of the SIROM specifications provided by end user based on real needs
- Optimization issues already identified based on the project lessons learnt to be applied in the SIROM IF upgrade
- Standard IF maturity design and demo reached for using SIROM IF as standard building blocks in SRC Call 2 Operational Grants

Final results

SIROM goes a step beyond due to the development of a standardized interface, which is able to connect modular building blocks in OOS (On-Orbit Servicing) as well as is applicable on extra-terrestrial surfaces. This required an interface which needs to withstand different extreme conditions and needs to cover mechanical interconnection, electrical and data transfer possibility as well as thermal transfer.
In order to answer a large range of space mission requirement, a standard interface has to provide the following features:
• Transferring mechanical loads
• Transferring power
• Transferring data
• Transferring heat load / fluid
The goal of the SIROM project is to extend further this advanced modularity by providing a platform that could be used both in orbital and planetary environments with minimal adjustments.

Expected impacts
1. European competitiveness and innovative actions in Space Robotics: Space robotics is considered one of the most promising approaches for on-orbit servicing (OOS) missions such as docking, berthing, re-fuelling, re-pairing, up-grading, transporting, rescuing and orbital debris removal, and for planetary scenario missions. Many enabling techniques have been developed in the past two decades and several technology demonstration missions have been completed. Robotic servicing of a cooperative satellite is still an open research area facing many technical challenges. The SIROM project is a cornerstone to lower the gap between existing IF technology and the needs of satellite servicing in orbit and for planetary scenario missions.
2. Promotion and acceleration of breakthrough Space Robotics concepts
A reliable and economically viable space servicing business calls for an innovative space servicing architecture to reduce cost. The availability of exchangeable satellite modules opens the perspective for satellites with upgradable modules; e.g. GPS satellites atomic clock module, this would be a valuable option especially for future satellite cluster systems. A continues enhancement of capabilities of a one of a kind satellite (as in the past Hubble) by an update of the sensor suit according to improvements in sensor technology after launch will extend operational capabilities of valuable space infrastructure assets and could extend their lifetime.
3. Future markets identification, targeting and enabling actions
Future markets are identified in the area of planned orbit raising to lower launch cost by integrating large orbital assemblies in orbit e.g. as part of post ISS scenario, planned maintenance, planned enhancement. Key factors for a successful evolution of these markets are:
• Reducing mission cost
• Availability of the enabling technologies
• Extension of lifetime for satellites by in-orbit servicing measures, which will enlarge the utilization of the satellite
• Reducing of debris by either satellite refueling and satellite repair or by actively deorbiting of the satellite
• Contributing technical capability for exploration missions

Website & more info

More info: http://www.h2020-sirom.eu/.