Date of Award
Master of Science in Engineering
Mechanical and Aerospace Engineering
Jennifer Hudson, Ph.D.
Kapseong Ro, Ph.D.
Stephen Kwok-Choon, Ph.D.
Control, dynamics, kinematics, maneuver, robotics, spacecraft
Masters Thesis-Open Access
Robotic on-orbit servicing is a developing technology that seeks to increase the longevity and repairability of faulty or aging resident space objects. In this research, the development of a flexible continuum manipulator for a small satellite system that performs low-complexity on-orbit servicing or debris removal is presented. Derivations of manipulator kinematics are described in detail, a non-linear control scheme has been developed, and the accuracy and servicing applications for the prototype are evaluated and discussed. The manipulator has been tested on an air-bearing dynamics simulator, and the results are extensively analyzed. System recommendations and future work suggestions are presented.
Dalton, Nathan, "Dynamic Maneuvers For Satellite On-Orbit Servicing Utilizing Novel Continuum Robotics: Development & Experimentation" (2022). Masters Theses. 5339.