Simulation of the on-orbit construction of structural variable modular spacecraft by robots

Abstract

This paper gives an overview on the simulation of the on-orbit construction of structural variable modular spacecraft by robots using Modelica. For this purpose, a new concept using so-called tensor bodies was developed which enables the fast and continuous simulation of complex scenarios even during structural changes. This research was part of two ESA and EU projects. An overview of the modeling and simulation approach will be given. The scenarios include the on-orbit re-configuration of a modular satellite with a walking robot manipulator and the construction of a modular space antenna array platform with a walking robot with two arms and a torso.