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 geome-try, 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 in-terference. 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.


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    Title :

    Designing ReachBot: System Design Process with a Case Study of a Martian Lava Tube Mission


    Contributors:


    Publication date :

    2023-03-04


    Size :

    4722452 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



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