TETHERS UNLIMITED, INC. — National Aeronautics and Space Administration SBIR Phase I: Z5

Description

<p style="margin-left:0in; margin-right:0in">Tethers Unlimited, Inc. (TUI) proposes to develop a collaborative robotics platform, AstroPorter, for multi-agent coordinated tasks on the International Space Station (ISS). TUI will develop an AstroPorter payload for Astrobee to perform collaborative robotics tasks with TUI&rsquo;s MANTIS - an EXPRESS Rack payload with a robotic arm for telerobotic operation of experiments on the ISS. AstroPorter will interface with Astrobee through the dedicated payload bay and function as a platform for transporting equipment and other stowed material around the ISS. Each AstroPorter will be equipped with TUI&rsquo;s high precision 3DOF end-effector placement gimbal, COBRA-Bee, and support the optional installation of platforms between two AstroPorters by crew. This platform will be used to place cumbersome equipment or stowed materials for transport. The high-degree of mobility provided by Astrobee places it in an excellent position to perform cataloging and fetching tasks within a collaborative robotic environment with MANTIS serving to support fixed-base manipulation tasks. Developing the payload and software infrastructure that allows Astrobee and MANTIS to share subtasks using collaborative control will extend the capability of robotic systems aboard the ISS, reduce astronaut burden for basic caretaking tasks, and bring self-maintenance of in-space habitats closer to reality. In the Phase 1 effort, the TRL of AstroPorter will be matured to TRL-5, in preparation for preliminary demonstrations on the ISS in Phase II.</p>