Model Evaluation of a Transformable CubeSat for Nonholonomic Attitude Reorientation Using a Drop Tower

TL;DR

This study develops and tests a drop tower setup to evaluate a numerical model of a reconfigurable CubeSat performing nonholonomic attitude reorientation, confirming the model's accuracy and discussing implications for space applications.

Contribution

It introduces a novel drop tower testing method for a transformable spacecraft model and validates the numerical simulation of its nonholonomic attitude control.

Findings

Numerical model accurately replicates robot motion

Post-experiment corrections improve simulation accuracy

Drop tower test effectively evaluates attitude reorientation

Abstract

This paper presents a design for a drop tower test to evaluate a numerical model for a structurally reconfigurable spacecraft with actuatable joints, referred to as a transformable spacecraft. A mock-up robot for a 3U-sized transformable spacecraft is designed to fit in a limited time and space of the microgravity environment available in the drop tower. The robot performs agile reorientation, referred to as nonholonomic attitude control, by actuating joints in a particular manner. To adapt to the very short duration of microgravity in the drop tower test, a successive joint actuation maneuver is optimized to maximize the amount of attitude reorientation within the time constraint. The robot records the angular velocity history of all four bodies, and the data is analyzed to evaluate the accuracy of the numerical model. We confirm that the constructed numerical model sufficiently replicates the robot's motion and show that the post-experiment model corrections further improve the accuracy of the numerical simulations. Finally, the difference between this drop tower test and the actual orbit demonstration is discussed to show the prospect.