Long-Stroke Isolation System for Large Flexible Space Structures

"The objective of this proposal is to establish the feasibility of a lightweight, articulated boom concept capable of providing a mechanical connection between two spacecraft while maintaining a high-degree of dynamic isolation. During a previous study,the functional tasks of the boom system were defined and preliminary performance requirements for subsystems were derived. Basic boom system principles were reported and a technology concept was formulated. This proposal seeks to further characterize theboom system feasibility through analytical and experimental investigation of critical functions. Specifically, the proposed research will focus on the design and performance of the boom's robotic joints. The system's kinematic configuration will bevalidated through analysis of workspace, packaging and deployment requirements. The robotic joint design concept will be validated through thorough analysis of joint performance models and simulations that assume the use of existing, commerciallyavailable components and technologies. Robotic joint technical challenges will be identified and a program plan will be formulated that includes an implementation and development strategy for any new technologies. Designs and test plans forcritical-function breadboards will be developed. One breadboard will be built and tested. While the Honeybee Robotics work to date has been largely project-based, the company is eager to expand its business