On-Orbit Construction Experiment by Tele-Operated Robot Arm

On-orbit assembly technology is a key for future large scale structure construction. For several decades, many concepts of space structures have been proposed and some of them have the idea of Robotic construction systems. Authors have developed a concept of a truss joint system for large scale orbital structures and worked for space robotics research. Participating a Japanese space robotics experiment project on Engineering Test Satellite no.7 scheduled to be launched by NASDA in1997, the authors will conduct space truss construction experiments. The experiments have objectives to establish basic technologies of on-orbit assembly work and robotic construction by using NASDA’s manipulator on the satellite. Our experiment system consists of the experiment unit including a truss joint and a deployable truss on the satellite, and our teleoperation facility on the ground. The on-board truss unit has been tested in both vibration and in thermal vaccum conditions simulating orbit environment, and the ground teleoperation facility has been developed. The actual experiments will start in late 1997.