Abstract
This paper is devoted to the design and simulation of a rover equipped with 4 preloaded structure legs. Space exploration vehicles (rovers) are employed for moving sensors, transporting planet samples and manipulating small modules. In order to perform such tasks with high accuracy, high mechanical stiffness frames are required. At the same time, a certain degree of compliance is required to mitigate mechanical stress caused by motion over a rough surface or in case of unexpected collisions. For this reasons, preloaded structures could represent a suitable solution. They present sharp stiff-to-compliant transitions at design-determined load thresholds. The paper describes the dynamic model of a single rover leg, the simulation of an impact event and the overall design of system.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
Seriani, S., Gallina, P., Wedler, A.: A modular cable robot for inspection and light manipulation on celestial bodies. Acta Astronaut. 123, 145–153 (2016)
Seriani, S., Gallina, P., Wedler, A.: Dynamics of a tethered rover on rough terrain. In: 1st International Conference of IFToMM Italy, IFIT 2016, Advances in Italian Mechanism Science, pp. 355–361 (2016)
López-MartÃnez, J., Blanco-Claraco, J.L., GarcÃa-Vallejo, D., Giménez-Fernández, A.: Design and analysis of a flexible linkage for robot safe operation in collaborative scenarios. Mech. Mach. Theor. 92, 1–16 (2015)
Bely, P.Y.: The Design and Construction of Large Optical Telescopes. Astronomy and Astrophysics Library. Springer, New York (2003)
Olivieri, L., Antonello, A., Savioli, L., Francesconi, A.: Dynamic behavior of a semi-androgynous small satellite docking interface. In: 65th International Astronautical Congress, Toronto, Canada (2014)
Wu, Y.-S., Lan, C.-C.: Linear variable-stiffness mechanisms based on preloaded curved beams. J. Mech. Des. 136, 122302 (2014)
Qin, Z., Yan, S., Chu, F.: Dynamic analysis of clamp band joint system subjected to axial vibration. J. Sound Vib. 329, 4486–4500 (2010)
Seriani, S., Scalera, L., Gallina, P., Lughi, V.: Development of n-DoF preloaded structures for impact mitigation in cobots. J. Mech. Robot. 10, 051009 (2018)
Medina, J., Lozano, P., Jardòn, A., Balaguer, C.: Design and characterization of a novel mechanism of multiple joint. In: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Daejeon, Korea (2016)
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2019 Springer Nature Switzerland AG
About this paper
Cite this paper
Seriani, S., Scalera, L., Gasparetto, A., Gallina, P. (2019). Preloaded Structures for Space Exploration Vehicles. In: Gasparetto, A., Ceccarelli, M. (eds) Mechanism Design for Robotics. MEDER 2018. Mechanisms and Machine Science, vol 66. Springer, Cham. https://doi.org/10.1007/978-3-030-00365-4_16
Download citation
DOI: https://doi.org/10.1007/978-3-030-00365-4_16
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-030-00364-7
Online ISBN: 978-3-030-00365-4
eBook Packages: Intelligent Technologies and RoboticsIntelligent Technologies and Robotics (R0)