A modular cable robot for inspection and light manipulation on celestial bodies. (June 2016)

• Record Type: Journal Article
• Authors: Seriani, S.; Gallina, P.; Wedler, A.
• Is Part Of: Acta astronautica. Volume 123(2016)
• Page Start: 145
• Page End: 153
• Publication Date: 2016-06
• Subjects: Space exploration -- Robotics -- Cable robot -- Modular robotics -- Workspace -- Stability; Astronautics -- Periodicals; Outer space -- Exploration -- Periodicals; Astronautics; Periodicals; 629.405
• DOI: 10.1016/j.actaastro.2016.03.020
• Languages: English
• ISSNs: 0094-5765

Abstract

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.