Design and Realization of Mechanisms for Grasping/Releasing and Deployment of Space Subsystems

Abstract

Conventionally, the space systems are designed for fixed configuration and they are remotely operated. With advancement and awareness of technology, it has become important to develop a technology oriented high performing mechanical system. Number of mechanical systems are required for space research but size and remotely operation of the system is complicated. In response to these challenges, space scientists and engineers are riveted to create mechanical system with flexible and intelligent mechanisms. Mechanisms like; solar-panel deployment, pyro cutter mechanism, reaction wheel mechanism are utilized in satellites for various space applications. Grasping/releasing of some critical components and deployable antenna mechanism are required for future lander or rover missions and effective communication across terrestrial bodies. The humanoid hand and antenna are developed as the grasping and deployable mechanisms. Many researchers have already worked in the field of the humanoid hand and deployable antenna mechanisms. The prime objective of the project is to design and analyse the model and realize the physical structure of the mechanical system. To build intelligence, control algorithms are customized and established for the system. The thesis covers the design of the humanoid hand and antenna mechanism to fulfill the grasping/releasing and deployable functions for space subsystems. The thesis also covers realization, assembly, and validation of the design. An experimental setup is also developed to test and validate the design using lab prototype. Finger mechanism and power transmission arrangements for grasping are the main challenges for humanoid hand design. The humanoid hand is developed with emphasis on link mechanism, force calculation and control algorithm. The core part consists of the finger, thumb link design, overall assembly of finger, palm, fore arm, revolute joint and power transmission mechanisms. To validate the design of the humanoid hand position, force, torque calculation, dynamic simulation and static analysis are carried out. The grasping and releasing procedure is performed through the microcontroller and actuator base control system. The design that are developed and realized are found in close conformance with the experimental model, hence validate the process of design and gives confidence to build similar and complex future space subsystems.