This paper presents the validation of the end-to-end BiBlade comet surface sampling chain, including Touch-and-Go (TAG) activities. The sampling chain consists of the BiBlade sampler, a structural compliant interface to a would-be spacecraft, a 3 degree-of-freedom planar robotic arm, a sample volume measurement device, and two sample vaults. The end-to-end sample chain is integrated into a purpose built full-scale dynamic spacecraft emulator, enabling to be performed the full sequence from surface approach to collected sample storage. Touchdown, sample triggering, sample acquisition, and ascent from surface are a critical set of sequences dependent on spacecraft dynamics and the sampler interaction with a comet surface. Of special importance are the rotational and linear inertias provided by the 2200kg spacecraft emulator during TAG operations. The full-scale dynamic spacecraft emulator is intended to validate these complex interactions between the sampler, comet surface simulants, and spacecraft mass. The full-scale dynamic Touch-and-Go spacecraft emulator consists of a 2200kg mass on a frictionless, planar air bearing system, 14 horizontal air thrusters providing 3 degree-of-freedom motion, onboard computing for motion control, and an off-board motion capture system providing localization. This robotic testbed can approach a simulated comet surface in a controlled fashion to validate the BiBlade TAG performance in nominal and off-nominal approach velocity scenarios. Following TAG, sample transfer, volume verification, and storage is performed.
Full-scale dynamic touch-and-go validation of the BiBlade comet surface sample chain / Moreland, Scott J.; Backes, Paul G.; Badescu, Mircea; Riccobono, Dario; Mongelli, Marco; Vieira, Peter; Brinkman, Alex; Rehnmark, Fredrik; Wei, Robert; Adams, Grayson; Toda, Risaku; Cervantes, William; Zacny, Kris. - ELETTRONICO. - (2018). (Intervento presentato al convegno IEEE Aerospace Conference 2018 tenutosi a Big Sky (Montana, USA) nel 3-10 Marzo 2018) [10.1109/AERO.2018.8396802].
Full-scale dynamic touch-and-go validation of the BiBlade comet surface sample chain
Riccobono, Dario;Mongelli, Marco;
2018
Abstract
This paper presents the validation of the end-to-end BiBlade comet surface sampling chain, including Touch-and-Go (TAG) activities. The sampling chain consists of the BiBlade sampler, a structural compliant interface to a would-be spacecraft, a 3 degree-of-freedom planar robotic arm, a sample volume measurement device, and two sample vaults. The end-to-end sample chain is integrated into a purpose built full-scale dynamic spacecraft emulator, enabling to be performed the full sequence from surface approach to collected sample storage. Touchdown, sample triggering, sample acquisition, and ascent from surface are a critical set of sequences dependent on spacecraft dynamics and the sampler interaction with a comet surface. Of special importance are the rotational and linear inertias provided by the 2200kg spacecraft emulator during TAG operations. The full-scale dynamic spacecraft emulator is intended to validate these complex interactions between the sampler, comet surface simulants, and spacecraft mass. The full-scale dynamic Touch-and-Go spacecraft emulator consists of a 2200kg mass on a frictionless, planar air bearing system, 14 horizontal air thrusters providing 3 degree-of-freedom motion, onboard computing for motion control, and an off-board motion capture system providing localization. This robotic testbed can approach a simulated comet surface in a controlled fashion to validate the BiBlade TAG performance in nominal and off-nominal approach velocity scenarios. Following TAG, sample transfer, volume verification, and storage is performed.Pubblicazioni consigliate
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https://hdl.handle.net/11583/2710961
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