Multisegment Large Space Robot: Concept and Design

A multisegment robot concept is discussed for use in space-based construction operations. The multistage robot is envisioned as a member of a class of large space robots, or space cranes, used in the assembly of advanced spacecraft. The multisegment robot involves a collection of common bodies, or segments, that are pinned together to form a snake-like, or train, configuration. The notion of shape function is used to position this serpentine robot to a prescribed location and orientation. An n-body simulation program is developed based on a Newton-Euler form of the equations of motion of the robot. Motion tests are included that compare experimental results with pertinent analytical predictions. This paper attempts to present a paradigm of theoretical and experimental study in which complex mathematical algorithms are realized in a simple physical model through an appropriate design procedure.