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The Intra-Vehicular Robotic System Analysis and Design (IVRSAD) will develop a simulation model of the Lunar Orbital Platform-Gateway (LOP-G) concept to enable kinematic analysis of intravehicular robotics (IVR). Through the use of this simulation the DSG interoperability requirements for IVR as well as the requirements on an IVR System can be developed. Specifically, this project will focus on the kinematic architectures of an IVR system to facilitate evaluating the functional trade space of an IVR. Prioritization in the analysis will be given to logistics management, scientific utilization, and maintenance of the LOP-G. A secondary focus will be to identify the means of stowing, mobility architectures, and the resources needed from the LOP-G for an IVR system.
Future exploration missions will require complex spacecraft requiring increased autonomy from ground control, both in crewed and uncrewed states. In the current Lunar Orbital Platform-Gateway (LOP-G) concept of operations, crew members will inhabit the LOP-G for about 30 days a year, requiring the LOP-G to autonomously manage itself for close to 335 days a year. This new concept requires a paradigm shift, starting with the requirements and system design. A recent spacecraft dormancy Design Reference Mission recommends intravehicular robotic systems to manage tasks needing physical interaction, like logistics, science utilization and maintenance of the spacecraft. This task will explore the kinematic work space and architecture of an Intra Vehicular Robotic (IVR) system to understand how best to incorporate a system into the LOP-G for useful and efficient behavior.
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