Development and Monte-Carlo Sensitivity Analysis of Identical Planar Space Robots for the Purpose of Validating the Recreation of On-Orbit Motion

This paper describes the development of two planar space robots with nearly identical dynamics. The paper begins by describing the configuration of the space robots and highlights the design decisions made to achieve similar dynamics. In a simulated microgravity environment, two space robots are created with identical dynamic models. A series of five-second simulated experiments are performed, and each test slightly modifies a physical parameter of the robot under test. A Monte Carlo simulation experiment is designed and implemented to analyze what physical parameters are most important to achieving similar dynamics. An analysis of the space robot's kinematics, mechanical dynamics, and electromechanical dynamics is discussed. Finally, the results of the Monte Carlo simulation are presented and discussed, and the DC motor torque constants are shown to have the greatest effect on the positional and rotational error.