Design, analysis of self-configurable modular adjustable latch lock for segmented space mirrors

This paper presents a connection mechanism for autonomous self-assembly of segmented space mirrors. Using this connection mechanism, space mirrors can be autonomously captured, positioned, locked and adjusted. The purpose of assembling space mirrors on orbit is to overcome the limits of launch volume and mass and provide a feasibility for future extremely large space telescope in order to improve optical performance to function as monolithic mirrors. In this paper, first, the design details and operation principle of the connection mechanism are presented. Then, based on the initial capture conditions, a double-contact model is investigated. And simulated results of the dynamic and optical performance show that the proposed mechanism overcomes significant alignment errors and is considered suitable for space optical system.

Design and Steering Control of a Center-Articulated Mobile Robot Module

This paper discusses the design and steering control for an autonomous modular mobile robot. The module is designed with a center-articulated steering joint to minimize the number of actuators used in the chain. We propose a feedback control law which allows steering between configurations in the plane and show its application as a parking control to dock modules together. The control law is designed by Lyapunov techniques and relies on the equations of the robot in polar coordinates. A set of experiments have been carried out to show the performance of the proposed approach. The design is intended to endow individual wheeled modules with the capability to merge and make a single snake-like robot to take advantage of the benefits of modular robotics.