This part of the project focuses on the development of a torque-controlled robotic joint, starting from the Torque controlled robotic arm requirement definition. The project is divided into three main Work Packages:
• WP1: Torque Controlled Robotic Joint Design: This WP covers the foundational aspects of the robotic joint, including requirement analysis, design, and analysis of key components.
• WP2: Torque Controlled Robotic Joint Procurement & Manufacturing & Testing: This WP encompasses the practical implementation of the joint design, including procurement of necessary components, manufacturing processes, and rigorous testing procedures.
• WP3: Torque Controlled Robotic Arm Design (no SW): This WP focuses on the overall robotic arm requirement definition. Starting from these requirements, the robotic joint requirements has been derived
• WP4: Communication and IP Management: This WP deals with dissemination, exploitation and communication about activities developed in ASTROLIFT, as well as generated IP management and protection
Completed Activities:
During this initial project phase, a document-based approach was employed to define the requirements for the robotic arm and its joints. In the subsequent phase (WP1.5) we will transition to a Model-Based Systems Engineering (MBSE) approach for system engineering activities.
• WP1.1 Requirement, Specification and Architectural Design (Completed): Starting from the robotic arm requirements, comprehensive requirements and specifications for the torque-controlled robotic joint have been meticulously defined, laying a solid foundation for subsequent design and development activities. A robust architectural design has been established, outlining the overall system structure and the interconnections between various components.
• WP1.2 Joint Mechanical Design and Analysis: the detailed mechanical design of the breadboard model version of the robotic joint is ongoing. This involves detailed analysis and optimization of critical mechanical components to enhance performance, durability, and efficiency.
• WP1.3 Torque Sensor Design and Analysis: as for the mechanical components, the breadboard model version of the torque sensor development is ongoing. Continuous improvements are being made to the design and analysis of the torque sensor. This includes exploring innovative sensor technologies, optimizing sensor placement and integration, and conducting rigorous simulations to ensure accurate and reliable torque measurements.
• WP1.4 Electronics, Firmware and control Software Design: for the breadboard model version, we concentrate in the development of the robotic joint control strategies development, analysis and simulation, to be ready for the physical model tests to be completed in the next project phases. To speed up the joint development, in the breadboard model version, we decided to select Component Off The Shelf (COTS) for electronics and low level software/firmware. In the next project phases, a custom electronic will be developed
• WP1.5 System Analysis and Documentation: the transition from documental approach to Model Based System Engineering (MBSE) approach is started. All the joint and arm requirement have been imported in the dedicated software (Enterprise Architect) together with functional and physical architecture. This approach improves maintainability of the model, enable the automatic generation (and updates) of the documents and reduces the effort of the system engineering activities.
• WP2.1 Procurement, Manufacturing and testing of BBM: The procurement of the BBM component is currently ongoing. In the next project phases, the BBM will be manufactured and then tested. To mitigate procurement lead times, also the laboratory equipment needed to perform the test has been purchased proactively during the last quarter of 2024. Moreover, to mitigate manufacturing lead time, starting from the preliminary Robotic Joint design the manufacturing team is performing the feasibility analysis, and they are evaluating the most suitable production technique for the BBM manufacturing
• WP3.1 Robotic Arm Requirement and Specification: preliminary requirements and specifications for the entire robotic arm system have been finalized. These preliminary specifications guide the design and development of the robotic joint, ensuring it meets the desired performance criteria and operational needs.
Ongoing Activities:• WP4.1 Dissemination and communication: the dissemination and communication plan has been completed and the communication actions are being implemented, with attendance to strategic conferences
