Modular robotic concepts are identified and evaluatedover the design and operations/maintenance lifecycle forautonomous Lunar, Mars, and partial gravity planetary surfaceexcavation and in-situ earthworks equipment. In-Situ ResourceUtilization (ISRU) is the exploitation of available resources at thesite of a landed spacecraft on the surface of another planetary body.It is intended that this ISRU excavator concept be capable ofmaterial extraction from native regolith, and will be able to operatein a variety of planetary surface environments after initial shakedownon the moon. Using heritage from highly multi-functional,reconfigurable robotic systems like the All-Terrain Hex-LimbedExtra-Terrestrial Explorer (ATHLETE), Regolith AdvancedSurface Systems Operations Robot (RASSOR), and Marsexploration rovers, we propose a flexible maintenance-optimizedmobility platform concept with quick-connect/disconnect featuresfor robotically swappable excavation implements. Dust toleranttorque transmission, power & data docking, thermal fluidconnectors, and modular avionics and instrumentation will allow forautonomous swapping of tools, replacement of spares, and longtermmaintenance of robotic excavators. The architecture includesmodular tools for conventional excavate / scoop / haul / dump /process functions of a terrestrial mining operation on Earth, but alsowill have the capability to operate and robotically maintain itselfwithout human intervention. The concepts described in this studywill provide a suite of technologies, configurations, and operationsready for inclusion into a final flight-ready excavator system.


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    Titel :

    Maintenance-optimized Modular Robotic Concepts for Planetary Surface ISRU Excavators


    Beteiligte:
    Schuler, Jason (Autor:in) / Mueller, Rob (Autor:in) / Nayar, Hari (Autor:in) / Wilcox, Brian (Autor:in) / Howe, A. Scott (Autor:in)

    Erscheinungsdatum :

    07.03.2020


    Medientyp :

    Preprint


    Format :

    Keine Angabe


    Sprache :

    Englisch



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