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Design of a Manipulator for Planetary Rovers

  • O. Gaudry
  • F. Pierrot
  • E. Dombre
  • A. Liégeois
Conference paper
Part of the International Centre for Mechanical Sciences book series (CISM, volume 361)

Abstract

This paper addresses the stages for selecting the concept of an arm suited to carry out the various scientific operations of planetary robotic explorations: sample recovery, supply of the on-board analysers, soil drilling and testing capabilities, rock inspection, probe/beacon deposit, tool manipulation, etc. After a study of these requirements from a geometrical point of view, the comparison of the various candidate designs leads us to retain a 3 dof pantographic system. It should cooperate with a redundant parallel wrist. The location of the base, the lengths of the links and the joint ranges are then optimised with respect to the operational and folding constraints, given a sketch of the vehicle. A stiffness analysis allows us to select the link rigidities. Finally, the actuators and the drive mechanisms characteristics are derived. The result is a trade-off for taking into account the maximum allowed bending error, the mass and the energy consumption. The preliminary design described in this paper is devised to exert a 20 N force and to allow a 0.5 cm/s tip velocity for 30 W peak power. The arm can fold within a volume smaller than 20 liters. Its estimated mass is about 5 kg, and the control is simple, thanks to the pantographic arrangement.

Keywords

Serial Robot Candidate Concept Stiffness Analysis Planetary Rover Large Workspace 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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References

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Copyright information

© Springer-Verlag Wien 1995

Authors and Affiliations

  • O. Gaudry
    • 1
  • F. Pierrot
    • 1
  • E. Dombre
    • 1
  • A. Liégeois
    • 1
  1. 1.University of MontpellierMontpellierFrance

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