Prosiectau fesul blwyddyn
As part of a CREST-2 project supported by the UK Space Agency (UKSA), a consortium of UK companies have co-founded and developed LARAD, a new Lightweight Advanced Robotic Arm Demonstrator to address some of the underlying challenges related both to the design as well as operation of long arms to perform the payload deployment and sample return operations of future missions.
The 15kg terrestrial demonstrator is built as a 2m long arm with 6 degrees of freedom. This arm is capable of deploying a payload with a mass up to 6kgs or operating a 4kg end-effector at 2m. It is using cutting edge technologies on both the hardware and software levels. The mechanical structure of the arm has been manufactured using an array of new processes such as optimised 3D printed titanium Additive Layer Manufactured (ALM) joints, Titanium/Silicon carbide metallic composites, and 3D printed harness routing drums.
A modular joint design has been produced, featuring three mechanical sizes of joints each with integrated low level communication and motor drive. The electronics, software and sensors used in the joints are common across all sizes, increasing modularity.
To achieve precise positioning, very high resolution absolute position sensing is used on-board. The arm uses novel collision avoidance and path-planning strategies combined with classical control loops. The On-board Control System’s state machine combines different control strategies/modes (i.e. joint trajectory tracking, direct motor control, autonomous placement) depending on the high level user operation requirements. The high level On Board Computer (OBC) is Robot Operating System (ROS) based, enabling a flexible software approach.
This project will provide a unique and representative platform to plan and rehearse science operations with full mass payload and instruments, unlike typical planetary arm developments that require scaled-mass end-effector.
This paper describes the current state-of-the-art in planetary robotics and provides an overview of the top-level architecture, implementation and laboratory testing phases for the LARAD robotic arm.
|Statws||Cyhoeddwyd - 2016|
|Digwyddiad||67th International Astronautical Congress - Expo Guadalajara, Guadalajara, Mecsico|
Hyd: 26 Medi 2016 → 30 Medi 2016
|Cynhadledd||67th International Astronautical Congress|
|Cyfnod||26 Medi 2016 → 30 Medi 2016|
Ôl bysGweld gwybodaeth am bynciau ymchwil 'Design concepts and implementation of the Lightweight Advanced Robotic Arm Demonstrator (LARAD)'. Gyda’i gilydd, maen nhw’n ffurfio ôl bys unigryw.
- 1 Wedi Gorffen
04 Tach 2013 → 03 Tach 2015
Prosiect: Ymchwil a ariannwyd yn allanol