Planetary exploration has been carried out with solitary probes since the nineteen-sixties; on the other hand, the newly emerging paradigm for robotic exploration shows multi-expertize, complex modular systems as necessary for efficient and thorough activities. In this paper we propose a modular Cable Driven Parallel Robot (CDPR) that is deployed by a rover, which can take advantage of its large workspace for tasks as inspection or light manipulation. While the general deployment procedure is described, focus is given on the CDPR; a model for the pseudostatics of the robot is formulated, as well as an analysis on its modules stability. The workspace is then characterized using appropriate metrics. Results show that a 1 Kg payload for the end-effector is effectively feasible with substantial margin for an equilateral triangular workspace of 10 m side. Finally, several possible practical applications are illustrated.

A modular cable robot for inspection and light manipulation on celestial bodies

SERIANI, STEFANO;GALLINA, PAOLO;
2016

Abstract

Planetary exploration has been carried out with solitary probes since the nineteen-sixties; on the other hand, the newly emerging paradigm for robotic exploration shows multi-expertize, complex modular systems as necessary for efficient and thorough activities. In this paper we propose a modular Cable Driven Parallel Robot (CDPR) that is deployed by a rover, which can take advantage of its large workspace for tasks as inspection or light manipulation. While the general deployment procedure is described, focus is given on the CDPR; a model for the pseudostatics of the robot is formulated, as well as an analysis on its modules stability. The workspace is then characterized using appropriate metrics. Results show that a 1 Kg payload for the end-effector is effectively feasible with substantial margin for an equilateral triangular workspace of 10 m side. Finally, several possible practical applications are illustrated.
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https://www.sciencedirect.com/science/article/pii/S0094576516300388?via=ihub
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11368/2892491
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