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.
翻译:在本文中,我们提出了一个贸易研究法,以优化 " 利波特 " 的建筑结构,这是一个新的机器人概念,它利用可部署的繁荣作为在具有不利重力条件和具有挑战性地形的环境中进行移动的典型连接点。具体地说,我们引入了一个设计过程,分析 " 利波特 " 的设计设计与其使命的兼容性。我们结合了地形参数和任务要求,以便为特派团特定目标提出最优化的最终设计。 " 利波特 " 的设计参数包括:(1) 起爆次数,(2) 达博特 " 底盘上浮标的位置和方向,(3) 最大爆展,(4) 横跨区几何和(5) 每个联合的主动/被动自由度/被动度数量。我们使用一阶近似法分析了这些参数和各种性能指标之间的关系,包括稳定性、可操作性和机械干扰。我们把方法应用于 " 利波特 " 导航和从马提岩管收集数据的任务。结果在Fig 1中显示设计。