부산대학교 도서관

Future in-orbit servicing missions will include capturing, inspecting and repairing damaged satellites, constructing large space structures, and supporting EVA (extra vehicular activities) of astronauts. In order to conduct the above missions, we have proposed a system of reconfigurable robot satellite clusters. The system consists of multiple satellites with reconfigurable arms. Utilizing its reconfigurability and mobility, the system can perform the tasks as well as far-site installation of a reconfigurable arm for constructing and inspecting structures. In order to investigate the proposed system, we construct a ground experiment system consisting two configurable arm models, three floating satellite simulators with gas-thrusters and a ground station. One arm is a reconfigurables brachiating space robot, RBR we have developed and the other is a newly developed one that consists of two parts; an arm part of 5 degrees of freedom with two reconfigurable end-effectors and a pivot; a docking part with two degrees of freedom. In the paper, we introduce the experimental system and the reconfigurable arms and show the results of functional and demonstration experiments using the system.