Flexible Base Power and Isolation Unit for Robotic Payloads

This paper presents the proposed system design of a flexible Base Power and Isolation Unit (BPIU) for robotic payloads. A robotic arm as a payload can be used to assemble, manipulate, repair or service existing systems remotely. The BPIU ensures the safe and reliable operation of the overall robotic payload. This includes the requirement to operate in harsh environment, including wide temperature ranges and the exposure to radiation. Based on the power interface and power demand of the robotic system as well as on the satellite bus power distribution and levels, a flexible BPIU design is required to harmonize both systems. The Compliant Assistance and Exploration SpAce Robot (CEASAR) arm, developed by the Institute of Robotics and Mechatronics at the German Aerospace Center serves as an example of a robotic payload in this paper. CAESAR is used within the European Robotic Orbital Support Services In Orbit Demonstrator (EROSS IOD) mission. The power, grounding and Electro-Magnetic Compliance (EMC) requirements of the robotic arm and the spacecraft have to be fulfilled by the BPIU design. Possible solutions for the individual BPIU subsystems are discussed based on the requirements of the spacecraft system and of the robotic payload.