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Summary of the BIO-Plex MHS

BIO-Plex Material Handling System (MHS) is complex robotic system designed to automate plant growth and harvesting tasks inside one of the Biomass Production System (BPS) module of the Bioregenerative Planetary Life Support Systems Test Complex (BIO-Plex).  Continuing development work on the BIO-Plex MHS is was supported by WCSAR, the U.W. Madison Mechanical Engineering Dept., and the U.W. - Madison Mechatronics Lab in part with the help of a software donation from QNX Software Systems Ltd. (see the lab sponsors page).

The BIO-Plex is a multichamber human-rated test facility developed by NASA Johnson Space Center. The goal of an advanced life support system like the BIO-Plex is to sustain crews on long duration space missions, which requires a high degree of self-sufficiency. This life support system is based on the integration of regenerative biological and physiochemical processes to produce food, potable water and a breathable atmosphere. As only few test facilities exist worldwide BIO-Plex is developed as a terrestrial large-scale project to support long-duration testing regarding possible planetary surface application.

The BPS is an integral part of the BIO-Plex along with eight other systems, which guarantee life in closed facilities. The BPS will utilize two Biomass Production Chambers  (BPC1 and BPC2), which are outfitted with a plant growth system. 

In order to support the researchers in the task of food crop production, seeding of the harvest and storage of the raw agriculture products, the BPCs are equipped with an Automated Material Handling System (MHS). At the current standing the MHS is primarily designed to perform minor tasks as moving materials and inspecting crops. The MHS consists of two different subsystems, the platform transporter (MHS/PT) and the robotic manipulator (MHS/RM). Both systems can be operated separately and are independent in power, communication and computation. 

The MHS/PT is a robot with two degrees of freedom. The platform can move on two axes in vertical and horizontal direction. The main task of the MHS/PT is to carry payloads to certain positions located in the corridor of the Biomass Production Chamber (BPC). It is possible to mount different attachment parts onto the basic platform to extend its size. Lightweight tasks can be fulfilled by a smaller platform extension, heavier by a larger one and finally there is a basket for carrying a crewmember. The MHS/PT is also capable of carrying the robotic manipulator (MHS/RM).

The MHS/RM is a 5-DOF robotic manipulator designed to accomplish lighter tasks. The manipulator is equipped with various end-effectors from grippers to sensor modules. 

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Last updated 04/24/2007 08:03 AM

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