2022/10/20 by Stephanie Newdick, Tony G. Chen, Newdick, Stephanie +9
Engineering · Physics and Astronomy · #FOS: Computer and information sciences #Modular Robots and Swarm Intelligence #Planetary Science and Exploration #Robotics (cs.RO) #Space Satellite Systems and Control
paper · pdf · doi:10.48550/arxiv.2210.11534
openalex publication_date 2022/10/20 · openalex created_date 2022/10/30 · openalex updated_date 2026/07/28
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.