Final Copy of Report 3.0

ZERO GRAVITY SIMULATION OF 6 DOF SPACE ROBOTIC ARM
CONTENTS
PAGE NO
Certificate i
Declaration ii
Acknowledgement iii
Abstract iv
List of figures v
List of table vi
List of symbol vii
Chapter 1: Introduction 6
1.1 Zero Gravity 7
1.2 Robotics 8
1.3 Docking And berthing 9
1.4 Robotic Arm 9
1.5 Material Properties of Robotic Arm 11
Chapter 2: Literature review 12
2.1 Background 13
2.2 Purpose of Gravity Compensation Systems 13
2.3 Gravity Compensation Techniques 14
Chapter 3: Problem Definition 33
Chapter 4: Methodology 35
Chapter 5: Experimental Process 37
5.1 Calculation of CG 38
5.2 Experimentation using Bungee Cord 41
5.3 Spring Mass System 43
Chapter 6: Results and Discussions 45
6.1 Method 1- Bungee Cord 46
6.2 Method 2- Spring Mass System 49
Chapter 7: Conclusion and Future Scope 51
7.1 Conclusion 52
7.2 Future Scope 52
References 58
Department of Mechanical Engineering, KSIT Page 1

List of Figures
FIG NO DESCRIPTION PAGE NO
Fig. 1.1 Man experiencing weightlessness 7
Fig. 1.2 CAD model of the Robotic Arm 10
Fig. 2.1 Zero G using helium balloon 16
Fig. 2.2 Pneumatic method 17
Fig. 2.3 Passive Mechanical Gravity Compensation System used by 18
the DSL: the structure of an antenna reflector is suspended
by means of cables, pulleys and counterweights (on the right
of figure).
Fig. 2.4
Passive ZSRM using a Side Spring Lever: the two springs are 18
linked via a lever in such a way that the overall spring rate is
near zero
Fig. 2.5 Zero-Gravity Suspension System Model 60350-0 from CSA 19

Engineering, Inc. This device can support payloads up to
1550 KN and works virtually frictionless. The vertical
suspension frequency is less than 0.2 Hz.
Fig. 2.6 Schematic Diagram of a Solar Array Model and a 20

Suspension System Utilizing Trolleys and Rails
Fig. 2.7 Process to make bungee cord 21
Fig. 2.8 Properties of Bungee cord 22
Fig. 2.9 Stiffness calculation of Bungee Cord 22
Fig. 2.10 Strain gauge 23
Fig. 2.11 Stain Gauge placement and strain calculation 25
Fig. 2.12 Spring mass system 27
Fig. 5.1 Parts selected in Arm 1 39
Fig. 5.2 Coordinates of centre of gravity of Arm 1 40

Fig. 5.3 Parts selected in Arm 2 40
Fig. 5.4 Coordinates of centre of gravity of Arm 2 40
Fig. 5.5 Parts selected at gripper 41
Fig. 5.6 Coordinates of centre of gravity of Gripper 41

Fig. 5.7 Distance between two centre of gravity’s 41

Fig. 5.8 Calibration of 8 strands 43
Fig. 6.1 Iteration 1 47
Fig. 7.1 Representation of Helium Balloon on the arms 53
Fig. 7.2 Railings Isometric view 54
Fig. 7.3 Carriage 54
Fig. 7.4 Representation of simply supported beam 54
Fig. 7.5 Shear force diagram 55
Fig. 7.6 Bending moment diagram 56

List of table
TABLE NO DESCRIPTION PAGE NO
Table 1.1 Material properties 11

List of symbols
SYMBOL DESCRIPTION UNIT
ρ Density Kg/m3
K Kelvin ºC
ν Poisson’s ratio
ρ Resistivity Ωm
Fb Buoyant Force N
g Accleration due to Gravity m/s2
V Volume m3

CHAPTER 1
INTRODUCTION

CHAPTER 1
INTRODUCTION
1.1. Zero Gravity

 Zero Gravity can be defined as “the state or condition in which there is no apparent
force of gravity acting on a body, either because the force is locally weak, or
because both the body and its surroundings are freely and equally accelerating under
the force”. Zero gravity means that the object is no longer influenced by the
gravitational pull of the earth which implies that the object must be located very
far away from the earth. In theory, zero gravity can exist where one object is pulled
by 2 different objects in opposite direction. Here gravity of one object cancels out
gravity of another. However, atoms at one end of surface of this object may
experience different gravity than atoms at another end. So, zero gravity may be at
the centre point only. The explanation above is for the literal meaning of zero
gravity. Zero gravity also means "weightlessness".
 "Weightlessness" or an absence of weight is an absence of stress and strain resulting
from externally applied mechanical contact-forces like floor, bed, seat etc. If a body
is freely falling experiences no stress or strain and in that case the body is said to be
weightless. Until and unless a body is in contact with another surface and
experiences stress and strain it is said to be weightless.
Fig. 1.1 Man experiencing weightlessness

1.2. Robotics
Robot is a system with a mechanical body, using computer as its brain. Integrating
the sensors and actuators built into the mechanical body, the motions are realised
with the computer software to execute the desired task. Robots are more flexible in
terms of ability to perform new tasks or to carry out complex sequence of motion
than other categories of automated manufacturing equipment. Today there is lot of
interest in this field and a separate branch of technology ‘robotics’ has emerged. It
is concerned with all problems of robot design, development and applications. The
technology to substitute or subsidise the manned activities in space is called space
robotics. Various applications of space robots are the inspection of a defective
satellite, its repair, or the construction of a space station and supply goods to this
station and its retrieval etc. With the overlap of knowledge of kinematics, dynamics
and control and progress in fundamental technologies it is about to become possible
to design and develop the advanced robotics systems. And this will throw open the
doors to explore and experience the universe and bring countless changes for the
better in the ways we live.
a) Robots coordinate System
 Cartesian coordinate Robot-The Cartesian system is probably the simplest

physical geometry to understand. It is usually used for assembly applications and
is particularly well suited for assembly of printed circuit boards (see Figure 10-3).
The main motions are on the X-, y and z-axes. It is capable of picking components
up and inserting them into boards. Its simple Cartesian coordinates make the
Cartesian coordinate robot easy to program off-line.
 Cylindrical Coordinate Robot- The cylindrical style robot's first axis of motion
is rotate; the second is an extend axis, and the third axis is the z-axis. Other
cylindrical styles are available with more axes of motion, but they all have a rotate
as the first axis and an extend axis as the second axis (see Figure 10-4). Figure 10-
5 shows the work envelope for a cylindrical robot. The work envelope is the area
in which the robot can move.
 Spherical Robot - The spherical robot has a rotate for the first and second axis of
motion and an extended for the third. This was the most popular configuration for
the first hydraulic robots.

 Articulated Robot- The articulate robot is the most common style of robot
configuration and is most like the upper body of humans. The rotational movement
of the human wrist is like the robot's base rotate and the waist bend motion is
similar to the robot's next axis. The human hand is like the rest of the axes. Note
that humans have many more axes of motion than a robot does, which limits the
robots. Although they are limited, articulate robots are very versatile. They can
reach into tight and confined areas such as auto interiors. They can move at odd
angles to weld parts together or to apply a bead of sealant in any plane. They can
assemble parts and place assemblies at any angle.
1.3. Docking and Berthing

Docking and berthing of spacecraft is the joining of two space vehicles. This
connection can be temporary, or semi-permanent such as for space station
modules. Docking specifically refers to joining of two separate free-flying space
vehicles. Berthing refers to mating operations where an inactive module/vehicle is
placed into the mating interface of another space vehicle by using a robotic arm.
Because the modern process of un-berthing is manually laborious, berthing
operations are unsuited for rapid crew evacuations in the event of an emergency.
1.4. Robotic Arm

 The Robotic Arm that is being tested for various applications to be performed in
space has the following characteristics. It has six degrees of freedom which can
practically move in any direction staying put on one mounting.
 The Robotic arm uses Articulated Configuration. An articulated robot can have
one or more rotary joints depending on the design of the robot and the joints are
capable of rotating through multiple planes and they increase the capabilities of the
robot considerably.
 Articulated configuration allows them to move and manipulate a wide variety of
objects. Some are designed as console units with arms, where the unit remains in
place in a fixed position and the arms are used to perform tasks.
 The Robotic Arm totally consists of 126 parts which performs wide range of
operations. The materials are chosen in such a way as to withstand all the
conditions is space. The robotic arm must sustain high temperatures, solar winds,
debris and Zero gravity environment. The harshest of environments are found in

space, therefore designing and developing a robotic arm according to such harsh
conditions takes a lot of research.
 Mainly the robotic arm is made of Aluminium alloy, Titanium alloy, Delrin and
Stainless Steel. The reasons for choosing only these materials are,
1. Relatively light weight when compared to other metals.
2. Space grade Aluminium and Titanium doesn’t corrode under extreme
conditions in space.
3. Easy for fabrication and manufacturing.
4. Has a much higher radiation shielding when compared to other metals.
5. All the materials used are Non-Toxic in nature.
6. Very less thermal sensitivity. (I.e. least amount of expansion for maximum
increase in temperature.)
7. Delrin has high fatigue strength, self-lubricating and low moisture absorption.
Fig. 1.2 CAD model of the Robotic Arm
Picture 1.1. Fabricated model of the Robotic Arm

1.5. Material properties of Robotic arm

Table 1.1 Material properties
Material Density(ρ) Melting point Physical properties
Kg/m3 K
Aluminium 2698 933 Good specific strength
Weldable
Cheap
Titanium 4540 1933 Light weight

High specific strength
Corrosion resistance
Delrin 1422.74 448 Self-Lubricating
High tensile strength
High fatigue endurance
Stainless steel 7810 1756 High corrosion resistance
Higher cryogenic toughness
Higher work hardening rate

CHAPTER 2
LITERATURE REVIEW

CHAPTER 2
LITERATURE REVIEW
GRAVITY COMPENSATION SYSTEMS
2.1. Background
 Testing the deployment of a solar array on earth is mandatory to receive space
qualification. However, the effect of gravity interferes with the dynamic behaviour
of every structure on earth, while in space the influence of gravity is negligible
(0g). E.g., on earth the array could not be suspended only at the root hinge – as it
is planned for the space application – because the stiffness and strength of the root
hinge are not high enough to support the weight appearing on earth. To obtain a
similar behaviour of the structure during ground tests, the influence of gravity must
be minimized using a gravity compensation system. There are plenty of
possibilities to simulate the 0g environment. From testing on the International
Space Station, via ballistic rockets and drop towers, to simple ground methods like
mechanical suspensions, air cushions or buoyancy in water. Due to the size and
mode of operation of deployable structures like rigid arrays, only the following
methods are conceivable:
 water floats
 helium balloons
 air bearings
 passive or active suspension system by means of rails, trolleys, cables ...
 A common problem with all gravity compensation systems is the interaction with
the original structure. The results of the ground tests always consist of an
additional, disturbing portion of the compensation system. The aim must be to find
a suitable gravity suspension system which alters the behaviour on earth as little as
possible.
2.2. Purpose of Gravity Compensation Systems

 The main aim of ground-based gravity compensation systems is to create a near 0g
environment as well as possible. Every system is characterized by the fact that it
must provide anti-gravity forces (applied as body, surface forces or volume forces).
An example of body force is the mechanical suspension of a test article by means

of a string. Surface forces occur during buoyancy suspension. Volume forces are
used in electromagnetic suspension systems.
 By adding a compensation system to the test article its mechanical behaviour can
change for the following reasons:
 The compensation system mass and moment of inertia. Due to connections to the
test article the dynamic behaviour can change.
 Depending on the fastening of the test article to the gravity compensation system
the kinematic behaviour of the test article can change. The compensation system
may apply constraints which lead to the loss of degrees of freedom of motion.
2.3. Gravity Compensation Techniques

 Gravity compensation is a well-known technique in robot design to achieve
equilibrium throughout the range of motion and as a result to reduce the loads on
the actuator [1]. These are the various gravity compensation techniques:
 Free fall methods
 Buoyancy Methods
 Pneumatic Methods
 Mechanical Methods
 Bungee Cord
 Spring Mass System
 Gas Balloons.
1. Free Fall Methods-

 In this category, one can count ballistic rockets, parabolic flights manoeuvres and
drop towers. Ballistic rockets can provide 0g for a duration of 5-15 minutes, but
in most cases the available space for experiments is rather small. The high price
and access available mostly only for military missions are big disadvantages.
 Parabolic flights with aircrafts like the French ’Caravelle’, ESA’s ’Zero-G’ A300
Airbus or the Russian IL-76 MDK can provide 0g for approximately 25 seconds.
The costs are affordable and access to these facilities is not to difficult. However,
0g only exists for that short duration and before/afterwards there exist
accelerations of more than 1g. Furthermore, for large structures there is not
enough space available on the aircraft.

 Drop towers are another example of free-fall testing. The Bremen (Germany)-
based ZARM drop tower delivers 4.74 seconds of near 0g up to three times a day.
In Japan 0g can be achieved up to 11.7 seconds by dropping into a 490 meter deep
mine shaft. These facilities have the big disadvantage of high decelerations
occurring after the experiment. The test space is only suitable for small
experiment specimens.[2]
2. Buoyancy Methods
 Some aspects of 0g can be simulated in a neutral buoyancy tank filled with water.
This method is used for astronaut training, requiring scuba equipment. It is not
suitable for most experiments because the test articles must be water-resistant and
movement is highly restricted by drag forces. The duration of 0g experiments is
theoretically unlimited. Practically, reactions between the water and the specimen
or breathing problems of human beings restrict the maximum test time. Water
floats can also be included in this section. It must however be considered that the
friction of floats on water is higher than sophisticated mechanical systems like
trolleys or air cushions. Vertical displacements are not supported, so that only 2D
motions are suitable for this type of compensation. The advantages of water floats
are their simplicity, their low cost and the possible big dimensions of the test
article
 Another example of buoyancy methods are helium balloons. Due to the small
difference of mass between air and helium the buoyancy is not very high for small
balloons. This implies that the specimen must be light or the balloon must be
rather large. Big balloons are again not suitable for motions because of the high
air drag.
 To suspend the 4.6 kg mass of a balloon with the diameter of 2 m would be
necessary, which is not reasonable.
 An application is shown in figure The DLR performed a deployment of a light-
weight solar sail structure in 1999. The structure consists of four CFRP (Carbon
Fiber Reinforced Plastic) booms, each 14 m long, and a rectangular sail with 4
µm to 12 µm thick segments. The beams were highly endangered to collapse
under their own weight. They were therefore suspended by helium filled balloons.
The mass of the continuously deploying beam increases permanently and thus the
suspension forces of the balloons need to be adjusted. This was achieved by

remotely controlled pumps draining water from small tanks below the balloons.
At mid-deployment four new balloons were attached to support the beams.[3]
Fig. 2.1 Zero G using helium balloon
3. Pneumatic Methods-
 Pneumatic gravity compensation systems are air tables or air bearings. Both are
characterized by 0g conditions only in horizontal directions. Movement in the
vertical direction is not allowed. The suspension force is transmitted via a thin
pressurized air film to the points of the specimen.
 Air tables are mostly suitable for small-scale experiments. The pneumatic
equipment is static which a big advantage to air bearings is. Air bearings are
widely-used in the robotics field and allow large-scale applications because the
table can have arbitrary dimensions. The very low friction is a big advantage,
while the complexity, price and the necessary cleanliness are disadvantageous.
 Fig 3.2 shows WATFLEX (Waterloo Flexible Link Experimental Facility) of the
University of Waterloo. It is a modular test facility designed to emulate space-
like conditions for flexible robotic manipulators. The entire system including the
base and shoulder motors are supported on air bearings on a large horizontal glass
surface to reduce friction and gravitational loadings.[4]

Fig 2.2 Pneumatic method
4. Mechanical Methods-
 Mechanical methods are suspension systems with elements like cables, strings,
pulleys, trolleys, rails or springs. In most cases gravity is compensated by more-
or-less discrete forces which occur due to discrete suspension points. In some
cases the specimen can also be suspended continuously, e.g. with an adhesive
joint to a bar which is then suspended again at discrete points. The application of
discrete forces on the test article changes the stress distribution and can thus be
critical.
 A feature of mechanical suspension systems is their simplicity. The basic
elements (cable, pulley) are cheap, available, simple to mount and reliable. These
systems can host test structures of almost unlimited size even when motion exists.
Especially because of this fact, in most cases they are the only option for large-
scale experiments.
 Disadvantages are the occurrence of friction, additional masses and mass
moments of inertia and the unsatisfactory gravity compensation in vertical
direction. Because of the importance of mechanical methods in gravity
compensation on earth the next section gives a more detailed description and
some examples.[4]
5. Mechanical Suspension Systems-

 1D Suspension-
 The simplest method is to use a cable which connects the specimen and the stand.
It is characterized by restricted motion in the horizontal and especially in the
vertical direction. Pendulum restoring forces disturb the horizontal motion and
can only minimized by sufficiently long cables. Vertical motion under 0g

conditions can only be achieved with very soft cables, which again requires a high
length. However, most test facilities cannot provide the appropriate heights.[7]
Fig 2.3 Passive Mechanical Gravity Compensation System used by the DSL: the structure of an antenna
reflector is suspended by means of cables, pulleys and counterweights (on the right of figure).
Fig 2.4 Passive ZSRM using a Side Spring Lever: the two springs are linked via a lever in such a way
that the overall spring rate is near zero
 The unsatisfactory behaviour in the vertical direction can be improved by means

of a pulley and counterweight or a zero-rate spring mechanism (ZSRM). The
usage of counterweights provides antigravity forces at every vertical position and
is thus equivalent to a cable with near-zero stiffness. The disadvantage of this
suspension system is the doubling of the total system mass. By this, the dynamic
behaviour of the total system changes and therefore is only suitable for quasi-

static testing. An approach to reduce the influence of the added inertia is to control
actively and correct the force in the suspension cable. An example of
counterweight suspension is shown in figure. Strings, pulleys and counterweights
were used by the DSL for the deployment and folding of an antenna structure.
This antenna is made of thin CFRP sheets which are connected by tape spring
hinges. In the front of the figure the reflector can be seen to be a parabolic-shaped
surface. Other structures in the back are used to support this front surface.
 ZSRMs have a very soft behaviour at the set point. For small elongations of the
spring from this set point the restoring force is almost constant. A possible simple
mechanism is shown in fig. A more advanced mechanism can be seen in fig 3.5[5]
Fig 2.5 Zero-Gravity Suspension System Model 60350-0 from CSA Engineering, Inc. This device can
support payloads up to 1550 KN and works virtually frictionless. The vertical suspension frequency is
less than 0.2 Hz.
 2D/3D Suspension-
 Although the 1D suspension methods described above allow motion in all
directions, they are mainly used to create a vertical 0g condition. They can
however be combined with each other or with rail/trolley elements to ensure
2D/3D gravity compensation.
 A 0g environment in horizontal directions can be achieved with the help of
trolleys and rails. Friction between the two elements and the added mass of the
moving elements are a disadvantage. However, the range of possible dimensions
of test articles is almost unlimited.

 With one rail and one trolley the horizontal motion is constrained to one degree
of freedom. The usage of one rail that is able to rotate around a vertical axis and
one trolley makes unconstrained motion in horizontal direction available. This is
especially used for robot systems that work in a polar-coordinate system. For
structures that can better be described in a x-y coordinate system two parallel and
one transverse rail can be used. The trolley moves on the transverse rail, which in
turn manoeuvres perpendicular to the trolley on the two other rails. In fig. 3.6
such a system is schematically drawn with the one exception that trolleys on the
transverse rails are not shown.[5]
Fig. 2.6 Schematic Diagram of a Solar Array Model and a Suspension System Utilizing Trolleys and Rails
6. Bungee Cord
a) Background
 Bungee cord is made of one or more strands of an elastic material, usually rubber,
bound together by a fabric covering. It is commonly used as a tie-down for
luggage or equipment carried on the outside of a vehicle. Bungee cord is also used
by the military to absorb the opening shock of the large cargo parachutes when
dropping heavy loads such as tanks. The development of long, heavy-duty bungee
cord for the military has led to the recreational sport of bungee jumping. In this
sport, the participant jumps from an elevated structure while wearing a harness
attached to one end of a long bungee cord with the other end attached to the
structure.
 The elastic material of a bungee cord is usually made of natural or synthetic
rubber. Natural rubber, sometimes called latex rubber, has excellent extensibility
(the ability to be extended), resilience (the ability to regain its original shape after

being extended), and tensile strength (the ability to be extended under load
without breaking). For these properties, it makes an excellent mate for bungee
cords.
 Natural rubber has the disadvantages of having only fair resistance to air and the
ultraviolet radiation in sunlight. Synthetic rubbers, such as neoprene, have better
resistance to air and sunlight, but less resilience and tensile strength than natural
rubber. The military specification (mil-spec) for bungee cords allows either
natural rubber or synthetic
Fig. 2.7 Process to make bungee cord
 Rubber, or a mixture of both. Reclaimed rubber may not be used for milspec
cords. Natural rubber is widely used for cords used in bungee jumping.
 The fabric covering for the bungee cord may be braided from cotton
or nylon yarn. Commercial bungee cord usually has a single layer of nylon
covering which is more resistant to abrasion and has a higher tensile strength.
 Standard commercial bungee cord is available in diameters from about 0.25-inch
to 0.62-inch (0.64-1.6 cm). Mil-spec cord is available from 0.25-inch to 0.87-inch
(0.64-2.2 cm) in diameter. These cords require no new design work other than an
occasional change in the colours of the outer covering. (See Quality Control).
Bungee jumping cord is usually about 0.62-inch (1.6 cm) in diameter.[6]

Fig. 2.8 Properties of Bungee cord
Fig. 2.9 Stiffness calculation of Bungee Cord
b) Strain Gauges
 A strain gauge is a device used to measure strain on an object. The most common
type of strain gauge consists of an insulating flexible backing which supports a
metallic foil pattern. The gauge is attached to the object by a suitable adhesive,
such as cyanoacrylate. As the object is deformed, the foil is deformed, causing its
electrical resistance to change. This resistance change, usually measured using a
Wheatstone bridge, is related to the strain by the quantity known as the gauge
factor.
 A strain gauge takes advantage of the physical property of electrical conductance
and its dependence on the conductor's geometry. When an electrical conductor is
stretched within the limits of its elasticity such that it does not break or

permanently deform, it will become narrower and longer, changes that increase
its electrical resistance end-to-end.
 Conversely, when a conductor is compressed such that it does not buckle, it will
broaden and shorten, changes that decrease its electrical resistance end-to-end.
From the measured electrical resistance of the strain gauge, the amount of induced
stress may be inferred.
 A typical strain gauge arranges a long, thin conductive strip in a zig-zag pattern
of parallel lines such that a small amount of stress in the direction of the
orientation of the parallel lines results in a multiplicatively larger strain
measurement over the effective length of the conductor surfaces in the array of
conductive lines—and hence a multiplicatively larger change in resistance—than
would be observed with a single straight-line conductive wire.[6]
Fig. 2.10 Strain gauge
c) Gauge Factor
 Gauge factor (GF) or strain factor of a strain gauge is the ratio of relative change
in electrical resistance R, to the mechanical strain ε. The gauge factor is defined
as:
∆𝑹 ∆𝝆
𝑹 𝝆
𝑮𝑭 = = + 𝟏 + 𝟐𝝂 Equation 3.1
𝜺 𝜺
Where,
ℇ= strain= ΔL/Lo
ΔL= absolute change in length
Lo= original length
ν = Poisson’s ratio

ρ = Resistivity
ΔR= change in strain gauge resistance
R= unstrained resistance of strain gauge
d) In Practice
 An excitation voltage is applied to input leads of the gauge network, and a voltage
reading is taken from the output leads. Typical input voltages are 5 V or 12 V and
typical output readings are in millivolts.
 Strain gauges are attached to the substrate with a special glue. The type of glue
depends on the required lifetime of the measurement system. For short term
measurements (up to some weeks) cyanoacrylate glue is appropriate, for long
lasting installation epoxy glue is required.
 The surface must be smoothed (e.g. with very fine sand paper), deoiled with
solvents, the solvent traces must then be removed and the strain gauge must be
glued immediately after this to avoid oxidation or pollution of the prepared area.
If these steps are not followed the strain gauge binding to the surface may be
unreliable and unpredictable measurement errors may be generated.

Fig. 2.11 Stain Gauge placement and strain calculation
 Strain gauge based technology is utilized commonly in the manufacture of

pressure sensors. The gauges used in pressure sensors themselves are
commonly made from silicon, polysilicon, metal film, thick film, and bonded
foil.
7. Spring Mass System

a) Background
 When a spring is stretched or compressed by a mass, the spring develops a
restoring force. Hooke's law gives the relationship of the force exerted by the
spring when the spring is compressed or stretched a certain length:
𝑭(𝒕) = −𝒌𝒙(𝒕) Equation 3.2

 Where F is the force, k is the spring constant, and x is the displacement of the
mass with respect to the equilibrium position.
 This relationship shows that the distance of the spring is always opposite to the
force of the spring.
 By using either force balance or an energy method, it can be readily shown that
the motion of this system is given by the following differential equation:
𝒅𝟐
𝑭(𝒕) = −𝒌𝒙(𝒕) = 𝒎 𝒅𝒕𝟐 𝒙(𝒕) = 𝒎𝒂 Equation 3.3
 The latter evidently being Newton's second law of motion.

 If the initial displacement is A, and there is no initial velocity, the solution of this
equation is given by:
𝐤
𝐱(𝐭) = 𝐀 𝐜𝐨𝐬(√𝐦 𝐭 ) Equation 3.4
b) Energy variation in the spring-damper system

 In terms of energy, all systems have two types of energy, potential energy and
kinetic energy. When a spring is stretched or compressed, it stores elastic
potential energy, which then is transferred into kinetic energy. The potential
energy within a spring is determined by the equation:
𝑼 = 𝒌𝒙𝟐 /𝟐 Equation 3.5
 When the spring is stretched or compressed, kinetic energy of the mass gets
converted into potential energy of the spring. By conservation of energy,
assuming the datum is defined at the equilibrium position, when the spring
reaches its maximum potential energy, the kinetic energy of the mass is zero.
When the spring is released, the spring will try to reach back to equilibrium, and
all its potential energy is converted into kinetic energy of the mass as shown in
Fig 3.12.

Fig.2.12 spring- mass system
8. Helium Balloons
a) Balloons
 Balloons have been used for decades to conduct scientific studies. While the
basics of ballooning have not changed, balloon capabilities have increased and
their dependability has improved greatly.
 A balloon is a flexible bag that can be inflated with a gas, such as helium,
hydrogen, nitrous oxide, oxygen, or air. Modern day balloons are made from
materials such as rubber, latex, polychloroprene, or a nylon fabric.
 Scientific Balloons Standard NASA scientific balloons are constructed of

polyethylene film; the same type material used for plastic bags. This material is
only 0.002 centimetres (0.0008 inches) thick, about the same as an ordinary
sandwich wrap. The film is cut into banana-peel shaped sections called gores and
heat sealed together to form the balloon. Up to 180 gores are used to make
NASA's largest balloons. These standard, zero-pressure, balloons are open to the
atmosphere at the bottom to equalize the internal pressure with the surroundings.
The balloon system includes the balloon, the parachute and a payload that holds
instruments to conduct scientific measurements.

 The general rule of thumb is that small balloons won’t float or if they do, it won’t
be for very long! This is because the small amount of helium that you can fit in
them won’t be enough to overcome the weight of the material the balloon is made
of. Every gram counts when you are trying to get a balloon lighter than air and
the size of each balloon as well as the type of material they are made of will play
a crucial part in the amount of weight each balloon can lift.[8]
b) Raw Material for Balloons
 Although rubber can be made synthetically, natural latex is preferred for its great
elasticity. It can be stretched to seven or eight times its original length and still
return to its former shape. Synthetic rubber has not proven to be as elastic and
resilient as natural latex.
 Raw, natural latex is a white or yellowish opaque liquid, similar in appearance to

milk. Latex is the secretion of certain plants, in particular the Hevea tree
originally found in Brazil. The most important sources of natural rubber today are
plantations in Malaysia and Africa.
 Producers of rubber must harvest the raw material from these trees, which
involves scoring the trees with shallow cuts and letting the sap ooze from the cuts
into buckets. The latex is collected in large containers, filtered to remove foreign
particles, and mixed with alkali to prevent coagulation. It is then shipped in liquid
form to processing centers in different parts of the world.
 Latex must be mixed with additives before it can be used in industrial processes.
Certain chemicals are mixed in to achieve a desired thickness, rate of drying, and
other properties. Other chemicals (collectively known as antidegradants) are
added to slow the oxidation and decomposition of the rubber. To give it colour,
pigments are mixed into the latex. The pigments may be fine metal oxide powders
or organic dyes.
c) Hydrogen balloon
 In France during 1783, the first public experiment with hydrogen-filled balloons
involved Jacques Charles, a French professor of physics, and the Robert brothers,
renowned constructors of physics instruments.
 Charles provided large quantities of hydrogen, which had only been produced in
small quantities previously, by mixing 540 kg (1,190 lb) of iron and 270 kg

(600 lb) of sulfuric acid. The balloon, called Charlière, took 5 days to fill and was
launched from Champ de Mars in Paris where 300,000 people gathered to watch
the spectacle.
 With Helium being expensive and now subject to shortage, many people are
looking for more available and inexpensive alternatives. Hydrogen is the only gas
providing lift similar to helium, in fact, it provides lift. Hydrogen is widely used
in atmospheric sounding balloons outside North America.
 Methane, the other gas historically used for balloons) provides less than 48% of
the lift of Helium, and has 3.75 times the energy density, making it far more
dangerous than hydrogen in the event of a fire. Hot air, depending on temperature,
provides only 5-15% of the lift of helium.[8]
d) Helium balloons
 Initially hydrogen was used to make balloons float. However, it easily explodes
and is highly flammable so understandably it was used mainly for scientific
experiments. Hydrogen was eventually replaced by helium. Helium is a non-
toxic, non-flammable, inert gas that occurs naturally in the air we breathe and is
also found underground. It is still very light with 92.64% of the lifting power of
hydrogen.
 Although it is considered a safe gas, it should never be inhaled intentionally as it
can cause suffocation.
 Increased safety, due to the use of helium however, meant that it was now possible
to use balloons in new ways.
 When latex balloons are filled with helium they typically retain their buoyancy
for only a day or so. The helium gas escapes through small pores in the latex
which are larger than the helium atoms. You can treat latex balloons with a hi-
float gel that makes them less porous and helps to keep the helium in the balloon.
 Latex balloons filled with air usually hold their size and shape much longer.
 Foil and plastic balloons are less permeable and can float for anything from 5
days to 5 weeks depending on their size and the material used for manufacture.[8]
e) Unique Chemical/Physical property of Helium

 Chemically inert and non-reactive
 Small elemental size

 Second lightest element; lighter than air

 Liquid helium is coldest substance on earth
 Very low solubility
 Highest ionization potential
 Low liquefaction point
 High specific heat and thermal conductivity
f) Benefits
 Used in airships, balloons and military communication and surveillance
equipment.
 Ideal for high-tech leak detection.
 Premier carrier gas for analytical testing and protective gas for controlled
temperatures used in semiconductor manufacturing.
 Keeps electrical coils in magnetic imaging machines (MRI) cold and is used in
special low-temperature scientific research.
 Used in space launches, where gaseous helium is used to pressurize and purge the
flammable liquid hydrogen fuel.
 Gas of choice for high-tech metal and plasma arc welding.
 Used to replace nitrogen in diving gas tanks used by deep sea divers.
g) Helium Balloons vs Hydrogen Balloons
 In order to get a floating balloon you want a gas which is as light as possible.
Helium is quite a lot lighter than air weight. It's about and eighth of the density
of air. Hydrogen is about a sixteenth the density of air. So it'll float in air and will
even float upwards. You'd have thought that hydrogen would be a better gas as it
would give slightly more lift than helium because it's lighter. This is true. The
problem is hydrogen is explosive and if you have children running around with
balloons that could catch fire and blow up in their faces, it may have some health
and safety implications. The other thing is that although hydrogen is half as heavy
as helium it doesn't give you twice as much lift because the amount of lift you get
is in its difference in density with [respect to] air. It's actually only another
sixteenth of the density of air. It's a little bit better but not very much, so it's not
worth the danger.

 Helium is quite expensive, though, because it's a limited resource here on the
planet. It's only created by radioactive decay on Earth. Atomic nucleus emitting
alpha particles that are actually helium nucleus. They slow down and gain some
electrons and turn into a helium atom. It tends to be found in oil wells where you
get a gas-proof layer of rock above a load of rocks containing radioactive
elements. They break down to helium. It floats up and gets trapped, often at the
top of an oil well. The amount of helium that we can access cheaply is very limited
because not all our oil wells have it.
h) Material Used in Helium Balloons

 A balloon is a flexible bag that can be inflated with a gas, such as helium,
hydrogen, nitrous oxide, oxygen, or air. Modern day balloons are made
from materials such as rubber, latex, polychloropropene, or a nylon fabric, and
can come in many colours.
 When a material is to be used for such a specialised application as airships or
helium balloons there are, of course, particular demands on the material. High
strength, air-tightness, weather and UV stability, conductivity and non-
flammability with minimum weight at the same time are just some of the
necessary requirements.
 Thanks to the targeted selection of the materials used, innovative manufacturing

processes and extremely rigorous finishing quality, ContiTech Elastomer
Coatings has succeeded in developing materials which meet the specified
requirement profile in optimum fashion.
 The rubber used, for example, is filled with conductive carbon black to dissipate
the static charge which is generated during normal operation.
 A high level of flame retardant is incorporated in the material. In a combustion

test carried out by AXIVA GmbH the materials used were the only ones among
the tested products to be classified in S4, the safest flammability category.
 Furthermore, the Tedlar foil used is now chemically bonded to the CSM coating
in a new process which makes the materials almost impossible to separate, a
significant advantage over the sandwich method used previously.

 A further example of the innovative applications for ContiTech materials is the

HeliMax.
 HeliMax is a giant helium-filled "light balloon". From a height of up to 50 metres

its 16,000 Watt metal vapour lamps illuminate an area with a radius of 800 metres,
while it can also provide twilight-like lighting conditions within a radius of 2
kilometres.
 This makes it ideal for use at events such as concerts, sporting occasions or trade
fairs or to illuminate large-scale building sites and disaster sites.
 Vinyl: Vinyl used in balloon construction is similar to the fabric used to make
swimming pool toys and tends to stretch out of shape when exposed to the heat
of the sun. Vinyl balloons have no woven fabric to help hold the shape or add
strength. Vinyl balloons are stretchy and easily punctured. The darker the material
the more prone it is to heat up and swell out of shape. Vinyl material is usually
imported into the USA as well as the balloons that are constructed out of it.
 Urethane: Our Urethane materials are constructed by coating or laminating a thin

layer of urethane on both sides of fabric such as taffeta or ripstop nylon. With a
fabric membrane in the center of the urethane coatings, stretching is minimal and
swelling out of shape from the heat of the sun is not a problem when using
Urethane material. Woven fabric makes Urethane material more durable and
puncture resistant. Even when unsupported by woven fabric, Urethane is far
better than Vinyl at lower gauge thickness for helium holding qualities and
Urethane will not crack in cold weather like Vinyl does.
i) At NASA
Helium, the same gas used to fill party balloons, is used in NASA balloons. These
very large balloons can carry a payload weighing as much as 3,600 kilograms
(8,000 pounds), about the weight of three small cars. They can fly up to 42
kilometres (26 miles) high and stay there for up to two weeks. [9]

CHAPTER 3
PROBLEM DEFINITION

CHAPTER 3
PROBLEM DEFINITION
Main aim of this project is to simulate the Zero Gravity condition for the space robotic arm.
A 3-Dimensional Zero gravity environment must be created on earth. To simulate such an
environment on earth where the effects of gravity is strong, is very difficult. Hence the
robotic arm is designed to work only in zero gravity, not earth’s gravity. This is because
designing for earth’s gravity will increase the size, weight and capacity off the robotic arm
which is unnecessary If the Zero gravity environment is not simulated during the initial
stages, the chances of failure when it is placed in the orbit is very high.
Few of the gravity compensation techniques mentioned in the literature review are not the
most suitable method for the space robotic arm due to cost constraints, space constraints
and non-availability of equipment’s. The biggest challenge is to find a technique which is
cost effective and accurate.

CHAPTER 4
METHODOLOGY

CHAPTER 4
METHODOLOGY
Calculation of centre
of gravity
Selection of suitable
gravity compensation
technique
Calibration of Bungee
cord
Experimentation using
Bungee cord
Experimentation using
spring mass system

CHAPTER 5
EXPERIMENTAL PROCESS

CHAPTER 5
EXPERIMENTAL PROCESS
5.1. CALCULATION OF CG
The centre of gravity of the 2 arms and the wrist were found out individually using the
software called Unigraphics.
The steps for finding out the centre of gravity are as follows,
1. Initially the coordinate axis of the robotic arm was fixed at a particular point (i.e.,
Centre of motor).
2. Now to find the centre of gravity, the parts between two motors were selected as
per the fixed motor. (Analysis Measure bodies  Show Information)
3. The required centre of gravity for the selected arm will be displayed in a new
window (text file).
The following figure (5.2, 5.4 and 5.6) represent the centre of gravities of Arm1, Arm2 and
Gripper respectively.
1.
Fig. 5.1 Parts selected in Arm 1

Fig. 5.2 Coordinates of centre of gravity of Arm 1
2.
Fig. 5.3 Parts selected in Arm 2
Fig. 5.4 Coordinates of centre of gravity of Arm 2

3.
Fig. 5.5 Parts selected at gripper
Fig. 5.6 Coordinates of centre of gravity of Gripper
Using the values obtain from the above calculations, distance between the Centre of Gravity
points were marked on the robotic arm as shown in the figure (6.7) below.
Fig. 5.7 Distance between two centre of gravities

5.2. Experimentation Using Bungee Cord

 Bungee Cord being the unique method to obtain gravity compensation and it is one
of the feasible methods for our experiment.
 The Bungee cord is usually made of numerous strands which provides a lot of
Stiffness. To reduce the magnitude of stiffness, the cord was separated into
different number of sets.
Picture. 5.1 Experimental setup
 The steps followed for the calibration of the bungee cord:

1. The outer covering of the Bungee cord was removed and were separated into 8,
11 and 12 strands.
2. 8, 11 and 12 strands were attached to a fixed point at certain height from the
ground and its free length was noted down respectively.
3. The weights were attached at the free end of the bungee cord in the incremental
order as shown in the figure below (5.8, 5.9, and 5.10).
4. The deflection for every increase in the weights were noted.
5. A Graph (weight VS deflection) was plotted to find the stiffness for 8, 11 and 12
strands respectively as shown in the figure (5.8, 5.9 and 5.10).

 Calibration of Bungee Cord for 8 strands
Fig. 5.8 Calibration of 8 strands
 Calibration of Bungee Cord for 11 Strands

 Calibration of Bungee Cord for 12 Strands
 Depending upon the centre of gravity of the robotic arm, Bungee cord of 8, 11 and
12 strands were attached onto the robotic arm and the other end was attached on to
L bar at the top. The position of the strands on the robotic arm were varied due the
slight shift in CG. Hence the following iterations were carried out.
5.3. SPRING MASS SYSTEM
 Due to the partial results obtained in the previous method, bungee cord was replaced
by a spring-mass system on to the second arm.
 In this method, a tension spring (Picture 5.2) was attached to a 900 grams mass
through a Kevlar thread around a pulley and the other end of the spring was attached
to the centre of gravity of the arm 2 through a Kevlar thread as shown in the picture
(5.3) below.
The reason for attaching 900 grams mass was to counter the mass of the arm 2.

Picture. 5.2 Experimental setup with spring mass system
Picture.5.3 Representation on the tension spring

CHAPTER 6
RESULTS AND DISCUSSIONS

CHAPTER 6
RESULTS AND DISCUSSIONS
6.1. Method 1- Bungee cord

A. Iteration carried for different positions of the bungee cord on the
Robotic Arm.
1.
Fig. 6.1 2.5 m

In the first iteration the bungee cord 8, 11 and 12 strands were attached to the centre
of gravity of gripper, arm2 and arm1 respectively as shown in the figure (6.1) above.
From this iteration, it was seen that the arm 2 after a certain inclination was not able
to holds its own weight, hence further iterations were carried out.
2.
L bar
2.5 m
Link or
Pulley for
CG swift.
Fig. 6.2

In this iteration, to compensate for the Centre of gravity shift, Bungee cord with 11
strands was attached to the arm 1 through a moving link (pulley) as shown in the
figure (6.2), along with that an extra bungee cord of 4 strands was attached at the
wrist motor. Even with this iteration the arm 2 was not able to hold its own weight
after certain inclination.
3.
Fig. 6.3
In this case, centre of gravity shift was provided for both strands 11 and 12 attached
to arm 1 and 2 respectively as shown in the figure (6.3), which again was not
successful.
4.
Fig. 6.4

In this case centre of gravity shift was provided to 12 strands attached to arm 2 as
shown in the figure (6.4). Even though the inclination of arm was improved, beyond
a certain inclination arm 2 was not holding its own weight.
5.
Fig. 6.5
It was understood that as the inclination of the arm 1 & 2 increases, the stiffness at
Bungee cord of 11 strands attached to arm1 must decrease and the stiffness at
bungee cord of 12 strands attached to arm 2 must increase for it to holds its own
weight, to achieve this condition the bungee cord of 12 strands was divided into 2
equal number of strands of 6 and then were attached to arm 2 at various positions
on the arm as shown in the figure (6.5).
6.
Fig. 6.6

In this case, to achieve the condition of stiffness as stated in the previous iteration
an extra bungee cord of 7 strands was attached at motor 2 as shown in the figure
(6.6).
7.
Fig. 6.7
In this iteration to obtain the condition of stiffness, one end of bungee cord of 7
strands was attached to arm 2 at the centre of gravity position and other end was
attached to centre of gravity position of arm 1 at the L bar as shown in figure (6.7).
In this method, the condition of stiffness was almost achieved and inclination of arm
1 & 2 was made better.
B. Result
 This technique was undesirable because only minimal movement of the robotic
arm was possible to test.
 Arm 2 could not to withstand its own weight once it reached an inclination of 30º.
 Therefore, the bungee cord of arm 2 was replaced with the spring mass system to
improve the results.
6.2. Method-2 Spring mass system

A. Result
 In this method, it was found that both the arms can withstand their own weight.
 The Robotic arm could reach an inclination of 50º, which was improved when
compared to previous method.

B. Discussions
From the above two methods, the minimal movement up to 50-degree inclination
of the space robotic arm was achieved. More accurate results can be obtained using
helium balloon technique which will be further carried out by ISRO.

CHAPTER 7
CONCLUSION AND FUTUTRE

WORK
CHAPTER 7
CONCLUSION AND FUTURE SCOPE
7.1. Conclusion
 From the various methods present to simulate Zero-G, we have selected
combination of bungee cord and spring mass system.
 We have successfully created the Zero-G environment with the available resources
to carry out the necessary tests on the robotic arm.
 All six degrees of freedom were tested in the present conditions with minimal
movement of the arm to successfully complete our purpose.
 Due to time constraint, we could not test using helium balloons which will be
carried out by ISRO Satellite Centre soon to get better results.
7.2. Future Scope

A. Background
 In this case, the weight of the robotic arm was countered by attaching helium
balloons of required specifications at required points as shown in the figure 7.1. To
overcome the effect of CG shift we had to design railings which would move in
accordance to the shift in CG at different configurations
Fig. 7.1 Representation of Helium Balloon on to the arms
 The railing design includes a platform and a set of 2 bearings attached to a hook
which forms a carriage. This carriage is attached to the Helium balloons. The
carriage is also responsible for obtaining the movement required for the CG shift.
 The design of the railing is shown below

Fig. 7.2 Railing Isometric view
Fig. 7.3 Carriage
 When the carriage design was made, it was necessary to consider the design
limitations because when the balloon of certain diameter is attached to the hook,
hook being in the centre position of the carriage had chances failing due to bending
and shear stresses. Shear force diagram and bending moment diagram were
determined using Ansys software.
Fig. 7.4 Representation of simply supported beam
 A simply supported beam as shown in figure (7.4) with centre point load of 21
Newton was considered and theoretical calculations for bending and shear stress
was obtained and were compared with the results obtained through Ansys software.

Force = 21N
Length (L) = 21.6mm
 Shear force diagram calculations
Considering Moment at B = 0
RA x 21.6 + 21(N) x 10.8 = 0
By solving the above equation,
For Simply Supported beam RA=RB = -10.5 N
 Bending moment diagram calculation
Considering from RHS,

Moment at B = 0
Moment at C,
MC= -10.5 x 10.8 = -113.4 N-mm
B. Ansys results
Fig. 7.5 Shear force diagram

Fig. 7.6 bending moment diagram
 Carriage was made to move over the railings with the help of the deep groove ball
bearings attached to the carriage as shown in the figure (7.3).
 Carriage is made of aluminium, using the yield strength of the material and shear
stress, frictional force that may arise during the movement of the carriage in the
railings was calculated.
Aluminium, Yield strength = 55N/mm2
𝟏𝟎.𝟓 𝑵
Shear stress =
𝟒𝟎𝟕.𝟓 mm2
Frictional force,
FR = µ x Radius of the shaft
= -0.3 x 0.004 = 0.0105 N
 Since the obtained frictional force was very less and factory of safety for the
carriage was very high, we concluded that the design of carriage is completely safe.
C. Specifications of the Balloons

 The size of the balloons depends upon the magnitude of weight that needs to be
offloaded at the centre of gravity of the arm.
 The size of the balloons was calculated for hydrogen and helium and it is as
follows.

 Calculating the Size of Hydrogen Balloons
Fb = (ρair –ρgas) x g x V Equation 8.1
Where Fb =Buoyant Force, V=Volume in m3, g=9.8066 m/s2.
ρair = 1.292 kg/m3. ρh= 0.0899kg/m3.
Substituting the values is equation 8.1
Fb = (1.292-0.0899) x 9.8066 x 1 = 11.836 N = 1.207 Kgs
Therefore, 1.207 kgs requires 1 m3 of Hydrogen gas
2 Kgs requires 1.657m3 of Hydrogen.
4
Vol of Sphere 𝑉 = 3 𝜋𝑟 3
For 50% capacity of balloon, radius must be
4
3.314 m3 = 3 𝜋𝑟 3  r=0.924m
4
2.209 m3 = 𝜋𝑟 3  r=0.807m
3
4
1.657 m3 = 3 𝜋𝑟 3  r=0.734m
Now, 3kgs requires 2.485 m3 of Hydrogen gas
For 50% capacity of balloon radius must me
4
4.97 m3 = 3 𝜋𝑟 3  r=1.058m
4
3.313 m3 = 𝜋𝑟 3  r=0.924m
3
4
2.485 m3 = 3 𝜋𝑟 3  r=0.840m

 Calculating the Size of Helium Balloons
Fb = (ρair –ρgas) x g x V Equation 8.2
Where Fb =Buoyant Force, V=Volume in m3, g=9.8066 m/s2.
ρair = 1.292 kg/m3. ρhe= 0.178kg/m3.
Substituting the values in equation 8.2
Fb = (1.292-0.178) x 9.8066 x 1 = 10.924 N = 1.114 Kgs
Therefore, 1.114 kgs requires 1 m3 of helium gas
2 Kgs requires 1.795m3 of helium.
4
Vol of Sphere 𝑉 = 3 𝜋𝑟 3
4
3.59 m3 = 3 𝜋𝑟 3  r=0.949m
4
2.393 m3 = 𝜋𝑟 3  r=0.829m
3
4
1.795 m3 = 3 𝜋𝑟 3  r=0.753m
Now, 3kgs requires 2.692 m3 of helium gas
For 50% capacity of balloon radius must me
4
5.384 m3 = 𝜋𝑟 3  r=1.087m
3
4
3.589 m3 = 𝜋𝑟 3  r=0.949m
3
4
2.692 m3 = 3 𝜋𝑟 3  r=0.862m

REFERENCES
1. T Rahman, R Ramanathan, R Seliktar- 1995 – “A Simple Technique to Passively
Gravity-Balance Articulated Mechanisms”- Applied Science and Engineering
Laboratories A.I. duPont Institute.
2. Gordon Cheng and Sang-ho Hyon- 26 February 2007- Gravity Compensation and
Full-Body Balancing for Humanoid Robots- Genova, Italy.
3. Alessandro Formaglio, Marco Fei, Sara Mulatto, Maurizio de Pascale,
Domenico Prattichizzo - Auto calibrated Gravity Compensation for 3DoF
Impedance Haptic Devices- University of Siena, via Roma 56, 53100 Siena, Italy.
4. Lu, Qi; Ortega, Carlos; Ma, Ou - Passive Gravity Compensation Mechanisms:

Technologies and Applications-Institute of Austria.
5. Rafael Kelly -October 1, 1997PD Control with Desired Gravity Compensation of

Robotic Manipulators.
6. Robert W. McBride-2000-Exerciser with multiple bungee cord resistance and
enhanced bench movements-sapienza Unversity of Rome.
7. Shull, Larry C., "Basic Circuits", Hannah, R.L. and Reed, S.E. (Eds.) (1992).
Strain Gage Users' Manual, p. 122. Society for Experimental Mechanics.
8. Federal Aviation Administration - F.A.Aviation News, October 2001, Balloon
Competitions and Events Around the Globe.
9. Alessandro de luca and stefano panzieri, “Learning Gravity Compensation in
Robots” : Rigid Arms, Elastic Joints, Flexible Links .
10. Shull, Larry C., "Basic Circuits", Hannah, R.L. and Reed, S.E. (Eds.) (1992).
Strain Gage Users' Manual, p. 122. Society for Experimental Mechanics.
11. Spark, N. (2006)., A History of Murphy's Law. Periscope Film.
12. Robert Brothers, .Federation Aeronautique Internationale, Ballooning Commission,
Hall of Fame, Archived May 16, 2008,
13. Oberg, James, “Space myths and misconceptions". Omni. 15 (7). Retrieved 2007-
05-02
14. Toyohiro Akiyama "The Pleasure of Spaceflight", , Journal of Space Technology
and Science, Vol.9 No.1 spring 1993, pp.21-23

Final Copy of Report 3.0

Uploaded by

Document Information

Original Title

Copyright

Available Formats

Share this document

Share or Embed Document

Sharing Options

Did you find this document useful?

Is this content inappropriate?

Copyright:

Available Formats

Final Copy of Report 3.0

Uploaded by

Copyright:

Available Formats

ZERO GRAVITY SIMULATION OF 6 DOF SPACE ROBOTIC ARM

Department of Mechanical Engineering, KSIT Page 1

Fig. 2.5 Zero-Gravity Suspension System Model 60350-0 from CSA 19

Fig. 2.6 Schematic Diagram of a Solar Array Model and a 20

Fig. 5.2 Coordinates of centre of gravity of Arm 1 40

Department of Mechanical Engineering, KSIT Page 2

Fig. 5.7 Distance between two centre of gravity’s 41

Department of Mechanical Engineering, KSIT Page 3

Department of Mechanical Engineering, KSIT Page 4

Department of Mechanical Engineering, KSIT Page 5

Department of Mechanical Engineering, KSIT Page 6

1.1. Zero Gravity

Fig. 1.1 Man experiencing weightlessness

Department of Mechanical Engineering, KSIT Page 7

a) Robots coordinate System

 Cartesian coordinate Robot-The Cartesian system is probably the simplest

Department of Mechanical Engineering, KSIT Page 8

1.3. Docking and Berthing

1.4. Robotic Arm

Department of Mechanical Engineering, KSIT Page 9

Fig. 1.2 CAD model of the Robotic Arm

Picture 1.1. Fabricated model of the Robotic Arm

Department of Mechanical Engineering, KSIT Page 10

1.5. Material properties of Robotic arm

Titanium 4540 1933 Light weight

Department of Mechanical Engineering, KSIT Page 11

Department of Mechanical Engineering, KSIT Page 12

GRAVITY COMPENSATION SYSTEMS

2.2. Purpose of Gravity Compensation Systems

Department of Mechanical Engineering, KSIT Page 13

2.3. Gravity Compensation Techniques

1. Free Fall Methods-

Department of Mechanical Engineering, KSIT Page 14

Department of Mechanical Engineering, KSIT Page 15

Fig. 2.1 Zero G using helium balloon

Department of Mechanical Engineering, KSIT Page 16

Fig 2.2 Pneumatic method

5. Mechanical Suspension Systems-

Department of Mechanical Engineering, KSIT Page 17

 The unsatisfactory behaviour in the vertical direction can be improved by means

Department of Mechanical Engineering, KSIT Page 18

Department of Mechanical Engineering, KSIT Page 19

Department of Mechanical Engineering, KSIT Page 20

Fig. 2.7 Process to make bungee cord

Department of Mechanical Engineering, KSIT Page 21

Fig. 2.8 Properties of Bungee cord

Fig. 2.9 Stiffness calculation of Bungee Cord

Department of Mechanical Engineering, KSIT Page 22

Fig. 2.10 Strain gauge

Department of Mechanical Engineering, KSIT Page 23

Department of Mechanical Engineering, KSIT Page 24

Fig. 2.11 Stain Gauge placement and strain calculation

 Strain gauge based technology is utilized commonly in the manufacture of

7. Spring Mass System

𝑭(𝒕) = −𝒌𝒙(𝒕) Equation 3.2

Department of Mechanical Engineering, KSIT Page 25

 The latter evidently being Newton's second law of motion.

b) Energy variation in the spring-damper system

𝑼 = 𝒌𝒙𝟐 /𝟐 Equation 3.5

Department of Mechanical Engineering, KSIT Page 26

Fig.2.12 spring- mass system

 Scientific Balloons Standard NASA scientific balloons are constructed of

Department of Mechanical Engineering, KSIT Page 27