Problem
More and more space junk, i.e. parts that are no longer needed or defective, from space missions in earth orbits, also threatens ongoing missions. According to ESA, there are currently more than 600,000 objects with a diameter greater than 1cm in orbit around the planet. There have already been initial collisions, e.g. in 2009 a still functioning telephone satellite was destroyed by flying parts of an old satellite. To solve this problem, the German space project EPOS ("European Proximity Operations Simulator") was launched. EPOS is a facility for simulating rescue and disposal manoeuvres in Earth orbit. With approach and docking manoeuvres in space ("rendezvous" and "docking"), unmanned satellites will be able to bring space junk parts into a so-called graveyard orbit or carry out repairs as service or rescue satellites. In this system, two 6-arm robots work on a common linear axis with a travel range of 25m. For the process and the cable guidance of the robots, the operators were looking for a suitable energy chain solution as well as linear bearing technology.
Solution
The simulation facility is set up and operated at the DLR (German Aerospace Centre) in Oberpfaffenhofen (Institute Space Operations & Astronaut Training and Robotics & Mechatronics). This is where the dry runs are carried out, so to speak, and further development is pursued. The industrial partners are Robo-Technology GmbH and KUKA Roboter GmbH. The system mainly consists of two 6-arm robots on a common linear axis with a travel range of 25m. A polymer energy chain from the triflex R series with a triflex RS universal module is used in each of the two robots in the simulation system.. The triflex multi-axis energy supply system has been specially developed for demanding 6-axis robot applications in harsh industrial environments. On the linear axis,
e-chains of the 410 series are also used. The selection of the energy supply system along the robot arm was made in co-operation between Robo-Technology and igus.
