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Completed TRL 4 (started at 4, targeting 5)
This task creates a 6-degree-of-freedom testbed for evaluating microgravity and low-gravity proximity and contact operations, e.g. in the vicinity of a Near Earth Asteroid (NEA), as well as steep slope climbing in 1/6th (e.g. lunar) or 3/8th (e.g. Mars) gravity simulations, without putting the hardware at risk. This is accomplished using an "inverted Stewart platform", where the vehicle under test is suspended by six computer-controlled cable winches so that it can be maneuvered in all 6 degrees of freedom. In addition, anchoring tools for use on asteroids and in steep slope climbing, will be prototyped and tested.
Proximity and surface contact operations are simulated for an asteroid or other low-gravity situations by suspending terrestrial prototype hardware from six computer-controlled winch cables, giving 6-degree-of-freedom (6-DOF) control over a 3-meter work volume. “Real” sensor feedback in terms of imagery, ranging, and contact sensing using accurate force sensors, allows simulation of approach, landing, anchoring, release and departure statics and dynamics for near-Earth asteroid missions as well as 1/6th (e.g. lunar) or 3/8th (e.g. Mars) gravity simulations on extreme terrain, without putting the hardware at risk.
In prior efforts, a gantry frame has been installed into a high-bay at JPL, with six computer-controlled winches, a control system, and a 7x7 meter asteroid surface mockup procured from a Hollywood set. 6-DOF control has been demonstrated for test articles up to 1600 kg, and high-fidelity 6-DOF demonstrations of proximity operations, bounce reduction, and anchoring and release in very soft regolith.
During FY14, the task will focus on performing extreme-terrain, steep-slope climbing in simulated 1/6th and 3/8th –gravity, with anchoring and release.
The low gravity testbed will provide “real” sensor feedback in terms of imagery, ranging, and contact sensing using accurate force sensors. This testbed will enable testing of robotic hardware prototypes in simulated approach, landing, anchoring, release and departure statics and dynamics scenarios, for near-Earth asteroid missions as well as 1/6th (e.g. lunar) or 3/8th (e.g. Mars) gravity simulations on extreme terrain (i.e. steep slopes), while greatly reducing the risks of damage to the hardware.
In addition, a set of low-gravity anchoring mechanisms will be designed, prototyped, and tested in reduced gravity.
The low gravity testbed built as part of this task will serve as a testbed for current and future robotic missions to the moon or Mars, reducing risk and development costs.
The results of the anchoring mechanism design/test could inform asteroid planners with the Asteroid Redirect Mission on what might or might not work as anchors when the human exploration part of the mission is designed.
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