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A TESTBED FOR STUDENT RESEARCH AND DESIGN OF CONTROL-MOMENT GYROSCOPES FOR ROBOTIC APPLICATIONS PowerPoint PPT Presentation


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A TESTBED FOR STUDENT RESEARCH AND DESIGN OF CONTROL-MOMENT GYROSCOPES FOR ROBOTIC APPLICATIONS . Albert Soto, Daniel Brown, Mason Peck. ASEE Annual Conference & Exposition – Austin, Texas June 15, 2009. Space Systems Design Studio at Cornell University. Overview. Experimental Learning

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A TESTBED FOR STUDENT RESEARCH AND DESIGN OF CONTROL-MOMENT GYROSCOPES FOR ROBOTIC APPLICATIONS

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A testbed for student research and design of control moment gyroscopes for robotic applications l.jpg

A TESTBED FOR STUDENT RESEARCH AND DESIGN OF CONTROL-MOMENT GYROSCOPES FOR ROBOTIC APPLICATIONS

Albert Soto,

Daniel Brown, Mason Peck

ASEE Annual Conference & Exposition – Austin, Texas

June 15, 2009

Space Systems Design Studio at Cornell University


Overview l.jpg

Overview

  • Experimental Learning

  • Space-Robotics

  • Drive Design

  • Momentum Actuators

  • Reactionless Robotics

  • Specifications & Design

  • Student Benefits

Space Systems Design Studio ASEE

June 2009


Experimental learning l.jpg

Experimental Learning

  • Fundamentals of Professionals

  • Research Project-Oriented Learning

    • Teamwork

    • Self-confidence

    • Opportunity to apply coursework

    • Experience

    • Visualize professional career

    • Retention in engineering

  • Limiting Factors of Aerospace Research

    • Infrequent microgravity flight trips

    • Risks in spaceflight launch

    • Limited resources

NASA Microgravity Research Aircraft

Space Systems Design Studio ASEE

June 2009


Space robotics l.jpg

Space-Robotics

  • Robotic Arm Technology

    • Satellite assembly

    • Massive cargo relocation

    • Spacecraft repair

Space Systems Design Studio ASEE

June 2009


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Actuator Design

  • What is a Drive Design?

  • Direct Drives

    • Conventional actuators for robotic

      arm joints

  • Control-Moment Gyroscopes (CMGs)

    • Traditional spacecraft attitude control

  • CMGs vs. Direct Drives

    • Reactionless actuation

    • Energy advantage?

Space Systems Design Studio ASEE

June 2009


Momentum actuators l.jpg

Momentum Actuators

  • Control-Moment Gyroscope (CMG)

    • Constant-speed rotor

    • Gimbal the rotor about g-axis to change angular-momentum vector h

    • 100x less power than RWAs1,2

    • CMGs produce greater torque for less energy

tout

h1

h2

  • Comparison of CMGs to direct drive needed to bring CMGs into robotics

Space Systems Design Studio ASEE

June 2009

  • Carpenter, Peck, 2008

  • Van Riper, Liden, 1971


Slide7 l.jpg

Reactionless Robotics

  • Actuator reaction torques

  • Inertial reaction forces

    • From D’Alembert’s principle

  • Benefits of CMGs

    • Reduce disturbances and low frequency vibrations

    • Isolate subsystems

    • Increased agility of robot

    • More power efficient than RWAs1,2

tCMG

tj

-tj

-R1

R1

-R1

R1

  • Carpenter, Peck, 2008

  • Van Riper, Liden, 1971

Space Systems Design Studio ASEE

June 2009

7


Reactionless robotics in space l.jpg

Reactionless Robotics in Space

  • Robotic manipulators

    • Space construction and repair

  • Pointing tasks

    • Independently orient cameras, sensors, transmitters, solar panels, etc.

  • Reduced propellant use in attitude control

    • Reduce launch mass

    • Extend mission life

DARPA SUMO spacecraft & Cornell CMG team

Efficient use of limited spacecraft power

Space Systems Design Studio ASEE

June 2009


Power requirements l.jpg

Power Requirements

  • Power equations of output torques:

    • in terms of the joint torques and velocities

Power equations do not equal!

  • CMG power has not previously been compared to direct drive for robotics

Space Systems Design Studio ASEE

June 2009


Testbed specifications l.jpg

Testbed Specifications

  • Planar two-link robot

    • +/- 90 deg range

  • Dually actuated

    • CMGs from robot arm

    • DC motors at joints

  • Air bearing levitation

  • Wireless control/data acquisition

  • Expandable to 3-link robot

  • Removable base link

Space Systems Design Studio ASEE

June 2009


The scissored pair cmg configuration l.jpg

The Scissored-Pair CMG Configuration

DC Motor

Gear

hr1+hr2

hr1

f

-f

tC2

tC1

CMG

tC1+tC2

Space Systems Design Studio ASEE

June 2009


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Benefits

  • Student introduction to:

    • Reactionless robotics

    • Momentum actuators

    • Dynamics of CMGs

    • Research

    • Ground testing of space-systems

    • Mechanical design and fabrication

  • Advances faculty and graduate students

    • New experimental hardware

    • Design groups

Experience for excellence in engineering

Space Systems Design Studio ASEE

June 2009


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Future Possibilities

  • Additional Focuses:

    • Optimizing CMG size

    • Real-time data collection and analyses

    • Control laws for N-link robotic arm

Single link

Two links

Space Systems Design Studio ASEE

June 2009


Slide14 l.jpg

Space Systems Design Studio ASEE

June 2009


Acknowledgements l.jpg

Acknowledgements

  • Cornell Leadership Alliance

  • Space Systems Design Studio

    • Dr. Michele Carpenter

  • Cornell 2007 CMG team

    • Mike Nagele

    • Nicole Monahan

Space Systems Design Studio ASEE

June 2009


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Momentum Actuators

  • CMGs are part of a larger class of actuators

  • Internal momentum change provides output torque

  • A spinning body resists change

    • Magnitude or direction of spin

  • Reaction Wheel Assembly (RWA)

    • Rotor fixed to spacecraft

    • Vary rotor speed magnitude

    • Large energy change of rotor

h2

h1

tout

Space Systems Design Studio ASEE

June 2009


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