将来有人宇宙拠点船内カーゴハンドリング自動化に関する概念検討

抄録

In human spaceflight activities, robotic task-assistance is anticipated to support safe and effective space exploration, as well as efficient utilization of space environment. Japan Aerospace Exploration Agency (JAXA) Human Spaceflight Division have been pursuing the robotic and automation technology. Cargo handling activities, including stowage of various goods and preparation, closeout task requires crew engagement in present ISS operations. Such tasks consume significant amount of precious crew time. Thus, in this paper prospect for cargo handling task automation is described. Based on the analysis of current operations, tasks anticipated for automation are outlined. Thus, required technology is discussed in 3 aspects. First, inventory management technology which was trade between mass and stowage efficiency between fully automated system. Second, intra-vehicular mobility with cargo transportation capability is discussed by comparing free-flyers and mobile manipulators. Lastly, cargo manipulation is analyzed based on the current crew IF manipulation by robotic manipulator.