Introduction to the Mechanics of Space Robots
Based on lecture notes on a space robotics course, this book offers a pedagogical introduction to the mechanics of space robots. After presenting an overview of the environments and conditions space robots have to work in, the author discusses a variety o
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SPACE TECHNOLOGY LIBRARY Published jointly by Microcosm Press and Springer The Space Technology Library Editorial Board Managing Editor:
James R. Wertz, Microcosm, Inc., El Segundo, CA, USA;
Editorial Board:
Val A. Chobotov, Consultant on Space Hazards, Aerospace Corporation, Los Angeles, CA, USA; Michael L. DeLorenzo, Permanent Professor and Head, Dept. of Astronautics, U.S. Air Force Academy, Colorado Spring, CO, USA; Roland Doré, Professor and Director, International Space University, Strasbourg, France; Robert B. Giffen, Professor Emeritus, U.S. Air Force Academy, Colorado Spring, CO, USA; Gwynne Gurevich, Space Exploration Technologies, Hawthorne, CA, USA; Wiley J. Larson, Professor, U.S. Air Force Academy, Colorado Spring, CO, USA; Tom Logsdon, Senior Member of Technical Staff, Space Division, Rockwell International, Downey, CA, USA; F. Landis Markley, Goddard Space Flight Center, NASA, Greenbelt, MD, USA; Robert G. Melton, Associate Professor of Aerospace Engineering, Pennsylvania State University, University Park, PA, USA; Keiken Ninomiya, Professor, Institute of Space & Astronautical Science, Sagamihara, Japan; Jehangir J. Pocha, Letchworth, Herts, UK; Frank J. Redd, Professor and Chair, Mechanical and Aerospace Engineering Dept., Utah State University, Logan, UT, USA; Rex W. Ridenoure, Jet Microcosm, Inc., Torrance, CA, USA; Malcolm D. Shuster, Professor of Aerospace Engineering, Mechanics and Engineering Science, University of Florida, Gainesville, FL, USA; Gael Squibb, Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA, USA; Martin Sweeting, Professor of Satellite Engineering, University of Surrey, Guildford, UK
For further volumes: www.springer.com/series/6575
Giancarlo Genta
Introduction to the Mechanics of Space Robots
Prof. Dr. Giancarlo Genta Department of Mechanical and Aerospace Engineering Politecnico di Torino Corso Duca degli Abruzzi 24 Torino 10129 Italy [email protected]
ISBN 978-94-007-1795-4 e-ISBN 978-94-007-1796-1 DOI 10.1007/978-94-007-1796-1 Springer Dordrecht Heidelberg London New York Library of Congress Control Number: 2011935862 © Springer Science+Business Media B.V. 2012 No part of this work may be reproduced, stored in a retrieval system, or transmitted in any form or by any means, electronic, mechanical, photocopying, microfilming, recording or otherwise, without written permission from the Publisher, with the exception of any material supplied specifically for the purpose of being entered and executed on a computer system, for exclusive use by the purchaser of the work. Cover design: VTeX UAB, Lithuania Printed on acid-free paper Springer is part of Springer Science+Business Media (www.springer.com)
To Franca and Alessandro
Preface
This text started as a collection of notes of the lectures on Space Robotics given by the author to the students of the International Master on Space Exploration and Development Systems (SEEDS). The aim of the course was the study of the automatic machines aimed to operate both autonomously and as a su
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