A system comprising a multi-functional boom subsystem integrated with a holonomic-motion boom base platform. The boom base platform may comprise: Mecanum wheels with independently controlled motors; a pair of sub-platforms coupled by a roll-axis pivot to maintain four-wheel contact with the ground surface; and twist reduction mechanisms to minimize any yaw-axis twisting torque exerted on the roll-axis pivot. A computer with motion control software may be embedded on the boom base platform. The motion control function can be integrated with a real-time tracking system. The motion control computer may have multiple platform motion control modes: (1) a path following mode in which the boom base platform matches the motion path of the surface crawler (i.e., integration with crawler control); (2) a reactive mode in which the boom base platform moves based on the pan and tilt angles of the boom arm; and (3) a collision avoidance mode using sensors distributed around the perimeter of the boom base platform to detect obstacles.
AUTOMATED MOBILE BOOM SYSTEM FOR CRAWLING ROBOTS
AUTOMATISIERTES MOBILES AUSLEGERSYSTEM FÜR KRIECHENDE ROBOTER
SYSTÈME DE FLÈCHE MOBILE AUTOMATISÉ POUR ROBOTS À CHENILLES
2019-03-27
Patent
Electronic Resource
English
Microgravity, Mesh-Crawling Legged Robots
NTRS | 2008
|Microgravity, Mesh-Crawling Legged Robots
Online Contents | 2008