Multibody Simulation of 1U CubeSat Passive Attitude Stabilisation Using a Robotic Arm
Robotics plays a pivotal role in contemporary space missions, particularly in the development of robotic manipulators for operations in environments that are inaccessible to humans. In accordance with the trend of integrating multiple functionalities into a single system, this study evaluates the fe...
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MDPI AG
2025-06-01
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| Online Access: | https://www.mdpi.com/2075-1702/13/6/509 |
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| author | Filippo Foiani Giulia Morettini Massimiliano Palmieri Stefano Carletta Filippo Cianetti Marco Dionigi |
| author_facet | Filippo Foiani Giulia Morettini Massimiliano Palmieri Stefano Carletta Filippo Cianetti Marco Dionigi |
| author_sort | Filippo Foiani |
| collection | DOAJ |
| description | Robotics plays a pivotal role in contemporary space missions, particularly in the development of robotic manipulators for operations in environments that are inaccessible to humans. In accordance with the trend of integrating multiple functionalities into a single system, this study evaluates the feasibility of using a robotic manipulator, termed a C-arm, for passive attitude control of a 1U CubeSat. A simplified multibody model of the CubeSat system was employed to assess the robotic arm’s functionality as a gravity gradient boom and subsequently as a passive magnetic control mechanism by utilising a permanent magnet at its extremity. The effectiveness of the C-arm as a gravitational boom is constrained by size and weight, as evidenced by the simulations; the pitch angle oscillated around ±40°, while roll and yaw angles varied up to 30° and 35°, respectively. Subsequent evaluations sought to enhance pointing accuracy through the utilisation of permanent magnets. However, the absence of dissipative forces resulted in attitude instabilities. In conclusion, the integration of a robotic arm into a 1U CubeSat for passive attitude control shows potential, especially for missions where pointing accuracy can tolerate a certain range, as is typical of CubeSat nanosatellite missions. |
| format | Article |
| id | doaj-art-0aee4c8ebdca4c80a72d52653a3ec283 |
| institution | DOAJ |
| issn | 2075-1702 |
| language | English |
| publishDate | 2025-06-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Machines |
| spelling | doaj-art-0aee4c8ebdca4c80a72d52653a3ec2832025-08-20T03:16:22ZengMDPI AGMachines2075-17022025-06-0113650910.3390/machines13060509Multibody Simulation of 1U CubeSat Passive Attitude Stabilisation Using a Robotic ArmFilippo Foiani0Giulia Morettini1Massimiliano Palmieri2Stefano Carletta3Filippo Cianetti4Marco Dionigi5Department of Engineering, University of Perugia, Via G. Duranti 93, 06125 Perugia, ItalyDepartment of Engineering, University of Perugia, Via G. Duranti 93, 06125 Perugia, ItalyDepartment of Engineering, University of Perugia, Via G. Duranti 93, 06125 Perugia, ItalySchool of Aerospace Engineering, Sapienza University of Rome, Via Salaria 851, 00138 Rome, ItalyDepartment of Engineering, University of Perugia, Via G. Duranti 93, 06125 Perugia, ItalyDepartment of Engineering, University of Perugia, Via G. Duranti 93, 06125 Perugia, ItalyRobotics plays a pivotal role in contemporary space missions, particularly in the development of robotic manipulators for operations in environments that are inaccessible to humans. In accordance with the trend of integrating multiple functionalities into a single system, this study evaluates the feasibility of using a robotic manipulator, termed a C-arm, for passive attitude control of a 1U CubeSat. A simplified multibody model of the CubeSat system was employed to assess the robotic arm’s functionality as a gravity gradient boom and subsequently as a passive magnetic control mechanism by utilising a permanent magnet at its extremity. The effectiveness of the C-arm as a gravitational boom is constrained by size and weight, as evidenced by the simulations; the pitch angle oscillated around ±40°, while roll and yaw angles varied up to 30° and 35°, respectively. Subsequent evaluations sought to enhance pointing accuracy through the utilisation of permanent magnets. However, the absence of dissipative forces resulted in attitude instabilities. In conclusion, the integration of a robotic arm into a 1U CubeSat for passive attitude control shows potential, especially for missions where pointing accuracy can tolerate a certain range, as is typical of CubeSat nanosatellite missions.https://www.mdpi.com/2075-1702/13/6/509C-arm for CubeSatspassive attitude controlmultibody attitude stabilization simulation1U CubeSat attitude control |
| spellingShingle | Filippo Foiani Giulia Morettini Massimiliano Palmieri Stefano Carletta Filippo Cianetti Marco Dionigi Multibody Simulation of 1U CubeSat Passive Attitude Stabilisation Using a Robotic Arm Machines C-arm for CubeSats passive attitude control multibody attitude stabilization simulation 1U CubeSat attitude control |
| title | Multibody Simulation of 1U CubeSat Passive Attitude Stabilisation Using a Robotic Arm |
| title_full | Multibody Simulation of 1U CubeSat Passive Attitude Stabilisation Using a Robotic Arm |
| title_fullStr | Multibody Simulation of 1U CubeSat Passive Attitude Stabilisation Using a Robotic Arm |
| title_full_unstemmed | Multibody Simulation of 1U CubeSat Passive Attitude Stabilisation Using a Robotic Arm |
| title_short | Multibody Simulation of 1U CubeSat Passive Attitude Stabilisation Using a Robotic Arm |
| title_sort | multibody simulation of 1u cubesat passive attitude stabilisation using a robotic arm |
| topic | C-arm for CubeSats passive attitude control multibody attitude stabilization simulation 1U CubeSat attitude control |
| url | https://www.mdpi.com/2075-1702/13/6/509 |
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