Sentinel-4 Manipulator
Rotapod ESA S4-ITTT
Function
The ROTAPOD is a 6-axis parallel kinematic positioning system used for the motion simulation of the Sentinel S4 satellite. With support of the ROTAPOD the optics in the satellite are measured and calibrated on a high accuracy level.
Clean room compatible for ISO 5
Vacuum suitable up to 10-6 mbar
Operating temperature +40 °C to -40 °C, with built-in encoder and motor heating down to -170 °C
CEMEC Service
![Rotapod design and concept study with all drive elements](/site/assets/files/1154/esa-rotapod-design.600x0.jpg.pagespeed.ce.kKjSNrNgnh.jpg)
Idea and problem solving. Complete development and 3D design according to ECSS standard for clean room and vacuum operation. Thermal and structural simulations. Production drawings, manufacturing and assembly. Testing, qualification and acceptance.
Manufacturing
![Mounting one of the 12 universal joints. High precision with integrated ball bearings.](/site/assets/files/1154/kardangelenk-01.600x0.jpg.pagespeed.ce.3vjV46oOpn.jpg)
Assembly of one of the 12 precision universal joints.
![Assembled TOP universal joint. Load capacity is 500 kg per joint.](/site/assets/files/1154/kardangelenk-02.600x0.jpg.pagespeed.ce.6AkurWotvA.jpg)
Final assembly of the universal joints. Axis accuracy 2 µm, load up to 1 t
![One of the 6 drive units. 30 watts and a ratio of 1:252000. micrometer positioning.](/site/assets/files/1154/antriebseinheit.600x0.jpg.pagespeed.ce.ILf-ZZD16T.jpg)
6 high precision drive units with a gear ratio 1:252000
![Mounting of the base ball bearings in the rotapod. Full ball bearing in all 6 rings.](/site/assets/files/1154/montage-kugellager.600x0.jpg.pagespeed.ce.Y0uSQ3QM3u.jpg)
Assembly of the integrated bearings. Over 8000 balls are installed.
![Mounting of the ROTAPOD end plate. The plate is spring-loaded and creates a permanent load to the bearing.](/site/assets/files/1154/deckplatte.600x0.jpg.pagespeed.ce.PpclcQ3xFX.jpg)
Final assembly in clean room. All 6 drive rings are tested
![Test run of the fully assembled rotapod in the ISO 7 clean room.](/site/assets/files/1154/rotapod-test.600x0.jpg.pagespeed.ce.YYVEAf0I6S.jpg)
Commissioning with software and load tests
Assembled with Sentinel 4
![Sentinel-4 satellite on ROTAPOD in the clean room of the RAL facilities](/site/assets/files/1154/sentinel-4_at_ral.600x0.jpg.pagespeed.ce.bMMgb_ksSb.jpg)
Final delivery state (here with satellite dummy)
Motion/Positioning
Repeatability | 2.0 | arcsec |
---|---|---|
Accuracy | 2.0 /10° at 1°K | arcsec/µm |
Stiffness | 15.0 /100 kg5.0 / 100 kg [Z] | arcsec/µm |
Customer
ESA / AIRBUS