Abstract Planetary exploration has been carried out with solitary probes since the nineteen-sixties; on the other hand, the newly emerging paradigm for robotic exploration shows multi-expertize, complex modular systems as necessary for efficient and thorough activities. In this paper we propose a modular Cable Driven Parallel Robot (CDPR) that is deployed by a rover, which can take advantage of its large workspace for tasks as inspection or light manipulation. While the general deployment procedure is described, focus is given on the CDPR; a model for the pseudostatics of the robot is formulated, as well as an analysis on its modules stability. The workspace is then characterized using appropriate metrics. Results show that a 1Kg payload for the end-effector is effectively feasible with substantial margin for an equilateral triangular workspace of 10m side. Finally, several possible practical applications are illustrated.


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    Title :

    A modular cable robot for inspection and light manipulation on celestial bodies


    Contributors:
    Seriani, S. (author) / Gallina, P. (author) / Wedler, A. (author)

    Published in:

    Acta Astronautica ; 123 ; 145-153


    Publication date :

    2016-03-20


    Size :

    9 pages




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English




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