EVA, robotic, and cooperative assembly of large space structures

摘要

This paper briefly summarizes two decades of Space Systems Laboratory experimental research on large space structure assembly. Based on high fidelity neutral buoyancy simulation with direct correlation to space flight data, this research encompasses extravehicular activity (EVA), teleoperation and robotics, and cooperative EVA/robotic assembly activities. Results presented from the extensive data base indicate that humans are significantly more productive in EVA assembly than had been previously thought; that telerobotics have wide applicability in structural assembly tasks, and are nearing humans in performance for a selected subset of tasks; and that direct cooperation between EVA humans and robots in the assembly work site provides maximum performance and robustness to the large space structure scenario.