JEMRMS Design Features and Topics from Testing

摘要

The JEMRMS consists of three major subsystems, the Console, Main Arm (MA), and Small Fine Arm (SFA). Each subsystem has already bean manufactured and has been subjected to many kinds of tests. This paper outlines each subsystem and system, and reports several topics from the testing. The Console has been subjected to environmental tests, a thermal balance test and a modal survey for the mathematical model correlation, integrated software test, and maintainability test. No major anomaly was found in the environmental tests but an EMC issue was discovered. Also, acoustic noise violated the requirement, but this will be fixed. Furthermore, several minor bugs were found and fixed during the integrated software test. The MA has also been subjected to environmental tests, a modal survey, and a thermal balance test for the mathematical model correlation. The performance test was then conducted on the flat floor test bed. In this test, basic robotics performance data, such as step input response, emergency stop distance, and positioning accuracy were acquired. All results satisfied the specifications. The acquired data were incorporated into the detailed simulation model. Using this model, we verified the actual on-orbit performance. We connected the Console and the MA, and performed Human In the Loop (HIL) test #1 as an operability test using five robotics-certified astronauts. During this test, we observed continued motion of the MA. The MA control algorithm will be therefore changed. The SFA has also passed a series of environmental and performance tests. Some problems concerning the harness routing occurred but were fixed. Life verification of the gears was also challenging. As a final step of the JEMRMS system testing, we will conduct performance tests on the flat floor connecting all three subsystems in May 2001. Also, we will demonstrate the operability of the SFA at HIL #2.