Title :
A working lunar rover: Passive gripper mechanism and actuated leg
Author :
Ambu, A. ; Bertetto, A. Manuello ; Falchi, C.
Author_Institution :
Dept. of Mech. Eng., Univ. of Cagliari, Cagliari, Italy
Abstract :
In this paper two particular subsystems of a worker rover, developed as a collaboration between two academic institutions, has been described for an optimal functionality. The rover has a gripper mechanism and four legs: these components are the on board mechanical subsystems. The gripper mechanism, described in the paper, is designed to operate without motors and the leg of this rover comprises a mechanism for lifting weights and has a decoupling structural joint. The design optimization was performed by means of parametric modelling and numerical simulations.
Keywords :
aerospace robotics; grippers; legged locomotion; numerical analysis; planetary rovers; actuated leg; decoupling structural joint; design optimization; numerical simulation; onboard mechanical subsystem; optimal functionality; parametric modelling; passive gripper mechanism; working lunar rover; Attitude control; Grippers; Humans; Leg; Legged locomotion; Mechanical engineering; Moon; Motion control; Soil; Vehicles;
Conference_Titel :
Robotics in Alpe-Adria-Danube Region (RAAD), 2010 IEEE 19th International Workshop on
Conference_Location :
Budapest
Print_ISBN :
978-1-4244-6885-0
DOI :
10.1109/RAAD.2010.5524585
