Attitude control via structural vibration

Abstract eng:
We present a novel technique for the reorientation of structures “floating” in torque-free environments, applicable to both space robotics and small satellite attitude control. Conventional orientation control methods require either the usage of continuously rotating structures (e.g. momentum wheels) or the jettisoning of system mass (e.g. hydrazine thrusters). However, the system proposed herein requires neither rotating structures nor mass ejection; instead, orientation is controlled by the imposition of a cyclic shape change—the canonical example from nature is a cat righting itself while falling, thereby always landing on its feet. Further, we extend the concept to consider the class of structures where the requisite cyclic shape change is attainable via the normal modes of structural vibration. This has implications both for the design of space structures where the attitude control hardware is integrated directly into the preexisting structure, as well as for development of orientation control techniques for soft robots.

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