Preliminary tests in pool
Final tests at ESA
The main role of Graal Tech was the realization of the three robotic manipulators, from their mechatronic design to their development, assembly, cabling and testing in pool. Particularly challenging was the requirement of realizing every arm with all the bodies individually neutrally buoyant, with the intent of reducing the hydrodynamic stresses during the interactions of the robot with astronauts.
Together with the developed prototype, the customer asked also the design of a control system enabling the execution of walking-like motions, by alternatively grasping and releasing ad-hoc hand-rails. The developed algorithms, all supported by simulatons, managed effectively the redundancy of every manipulator, while guaranteeing the safe avoidance of joint limits, singularities and self-collisions.
Finally Graal Tech had also a leading role in the definition and structuring of the overall on-board real-time software architecture, implementing the robot control system.
NAME: Eurobot Wet Model
CUSTOMER: Thales Alenia Space (on behalf of European Space Agency)
GOAL: Development of an underwater replica of Eurobot, the
3-arms robotic system to be launched on the International
Space Station for supporting astronauts in the execution
of extra-vehicular activites.