| Autor: |
Newdick, Stephanie, Chen, Tony G., Hockman, Benjamin, Schmerling, Edward, Cutkosky, Mark R., Pavone, Marco |
| Rok vydání: |
2022 |
| Předmět: |
|
| Druh dokumentu: |
Working Paper |
| Popis: |
In this paper we present a trade study-based method to optimize the architecture of ReachBot, a new robotic concept that uses deployable booms as prismatic joints for mobility in environments with adverse gravity conditions and challenging terrain. Specifically, we introduce a design process wherein we analyze the compatibility of ReachBot's design with its mission. We incorporate terrain parameters and mission requirements to produce a final design optimized for mission-specific objectives. ReachBot's design parameters include (1) number of booms, (2) positions and orientations of the booms on ReachBot's chassis, (3) boom maximum extension, (4) boom cross-sectional geometry, and (5) number of active/passive degrees-of-freedom at each joint. Using first-order approximations, we analyze the relationships between these parameters and various performance metrics including stability, manipulability, and mechanical interference. We apply our method to a mission where ReachBot navigates and gathers data from a martian lava tube. The resulting design is shown in Fig. 1. |
| Databáze: |
arXiv |
| Externí odkaz: |
|
