DYMAFLEX: DYnamic MAnipulation FLight EXperiment

The purpose of DYMAFLEX is to investigate the coupled dynamics and associated controller-based mitigation strategies for a free-flying vehicle with a high-performance manipulator performing tasks analogous to satellite servicing. A high-performance, low-mass manipulator has been developed for this purpose and mounted to a free floating base. The manipulator incorporates 4 degrees of freedom and is designed to operate at a maximum tip speed of 25 cm/s. A single parabolic flight mission is needed to achieve DYMAFLEX’s objectives. The main objective is to determine the coupled dynamics between the manipulator and a free-floating base. Problem Statement A single parabolic flight will allow a number of motion trajectories to be observed. The G-loads desired for the spacecraft is microgravity. While the DYMAFLEX manipulator has been designed to work in 1g, a 0g environment will be the most relevant to the final application and allow for verification of the system in its proposed operational environment. Technology Maturation Flying in a 0 g, or near 0g, environment will allow DYMAFLEX to move from TRL4 to TRL6.

Advanced controls of robotic arms in microgravity will benefit future satellite servicing missions involving a satellite capture.

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