Modeling of Active Tether System Concepts for Planetary Exploration

Abstract This paper summarizes an approach for modeling, simulation, and control of tethered systems in which the tether is actively controlled. Various aspects of the system model are described, including tether dynamics, end-effector dynamics, contact interaction and the model of the active tether material. We consider three scenarios: a tether made of an electrically switchable material for small body sampling, a tether for close-proximity operations such as capture and grappling, and a tether harpooning to a small body for sample capture, fly-by, rendezvous, and/or landing.

[1]  J. Mayo Greenberg,et al.  A new derivation of the tensile strength of cometary nuclei: Application to comet Shoemaker-Levy 9 , 1995 .

[2]  John W. Wong.  Analysis of Tethers in Sampling Near Earth Objects , 1997 .

[3]  K. Glassmeier,et al.  The Rosetta Mission: Flying Towards the Origin of the Solar System , 2007 .

[4]  Saburo Matunaga,et al.  Retrieving Dynamics and Control of Tethered Sampling Method for Minorbody Exploration , 2006 .

[5]  E. J. Haug,et al.  Computer aided kinematics and dynamics of mechanical systems. Vol. 1: basic methods , 1989 .

[6]  J. Moreau.  Standard Inelastic Shocks and the Dynamics of Unilateral Constraints , 1985 .

[7]  Daniel Caleb Rucker,et al.  The mechanics of continuum robots: Model-based sensing and control , 2011 .

[8]  Bernie F. Carpenter,et al.  On-orbit experiments and applications of shape memory alloy mechanisms , 2000, Smart Structures.

[9]  J. Mayo Greenberg,et al.  Do Cometesimal Collisions Lead to Bound Rubble Piles or to Aggregates Held Together by Gravity , 2000 .

[10]  E. Kührt,et al.  The Formation of Cometary Surface Crusts , 1994 .

[11]  Thomas Keller,et al.  Impact penetrometry on a comet nucleus — interpretation of laboratory data using penetration models , 2001 .

[12]  W. Keats Wilkie,et al.  Investigation of Phase Transition-Based Tethered Systems for Small Body Sample Capture , 2011 .

[13]  Ralph D. Lorenz,et al.  Planetary penetrators: Their origins, history and future , 2011 .

[14]  Michael W. Hyer,et al.  SMA-induced snap-through of unsymmetric fiber-reinforced composite laminates , 2003 .

[15]  L. Richter,et al.  The putative mechanical Strength of comet surface material applied to landing on a comet , 2009 .

[16]  Yoseph Bar-Cohen,et al.  Electroactive Polymer (EAP) Actuators as Artificial Muscles: Reality, Potential, and Challenges, Second Edition , 2004 .

[17]  D. Stewart,et al.  AN IMPLICIT TIME-STEPPING SCHEME FOR RIGID BODY DYNAMICS WITH INELASTIC COLLISIONS AND COULOMB FRICTION , 1996 .

[18]  Sorin Dumitru,et al.  Boundary Control by Boundary Observer for Hyper-redundant Robots , 2010, Int. J. Comput. Commun. Control.

[19]  Vladimir V. Beletsky,et al.  Dynamics of Space Tether Systems , 1993 .

[20]  Stefan Seelecke,et al.  Shape memory alloy actuators in smart structures: Modeling and simulation , 2004 .

[21]  G. Lantoine,et al.  The hitchhiker’s guide to the outer solar system , 2015 .

[22]  Jordi Puig-Suari,et al.  A tether sling for lunar and interplanetary exploration , 1995 .

[23]  D. Scheeres,et al.  Scaling forces to asteroid surfaces: The role of cohesion , 2010, 1002.2478.

[24]  Jordi Llorca,et al.  The strength of cometary meteoroids: clues to the structure and evolution of comets , 2006 .

[25]  Hammad Mazhar,et al.  Physics-Based Simulator for NEO Exploration Analysis & Simulation , 2011 .

[26]  E. B. Mayfield,et al.  Dynamics of a Projectile Penetrating Sand , 1957 .

[27]  H.G.B. Allersma,et al.  Optical analysis of stress and strain in photoelastic particle assemblies , 1987 .

[28]  D. Stewart,et al.  Time-stepping for three-dimensional rigid body dynamics , 1999 .

[29]  Abhinandan Jain.  Robot and Multibody Dynamics: Analysis and Algorithms , 2010 .

[30]  Thomas J. Ahrens,et al.  Emplacement of penetrators into planetary surfaces , 1996 .

[31]  Abhinandan Jain,et al.  EVALUATION OF COMPLEMENTARITY TECHNIQUES FOR MINIMAL COORDINATE CONTACT DYNAMICS , 2014 .

[32]  A. ERCOLI FINZI,et al.  SD 2 – HOW TO SAMPLE A COMET , 2007 .

[33]  M. Quadrelli,et al.  Modeling and dynamics of tethered formations for space interferometry , 2000 .

[34]  A. K. Misra,et al.  Near-Earth Asteroid Missions Using Tether Sling Shot Assist , 2000 .

[35]  D. Lagoudas,et al.  A thermodynamical constitutive model for shape memory materials. Part I. The monolithic shape memory alloy , 1996 .

[36]  W. Wang.  LOW VELOCITY PROJECTILE PENETRATION , 1971 .

[37]  C. H. Liu,et al.  Force Fluctuations in Bead Packs , 1995, Science.

[38]  Victor Birman,et al.  Review of Mechanics of Shape Memory Alloy Structures , 1997 .

[39]  Marco B. Quadrelli,et al.  The Hitchhiker’s Guide to the Solar System: A Tethered Orbit Insertion and Landing Concept for Small Body Exploration , 2015 .

[40]  P. A. Penzo,et al.  Tethers and asteroids for artificial gravity assist in the solar system , 1984 .

[41]  M. Quadrelli.  Modeling and Simulation of a Tethered Harpoon for Comet Sampling , 2014 .

[42]  Howard A. Perko.  Effects of surface cleanliness on lunar regolith mechanics , 1996 .

[43]  Hammad Mazhar,et al.  Physics-Based Simulator for NEO Exploration Analysis & Modeling , 2011 .