DocumentCode
3224850
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
fYear
2010
fDate
24-26 June 2010
Firstpage
199
Lastpage
203
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;
fLanguage
English
Publisher
ieee
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
Type
conf
DOI
10.1109/RAAD.2010.5524585
Filename
5524585
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