ReachBotの設計：火星溶岩チューブ探査を事例としたシステム設計プロセス
Designing ReachBot: System Design Process with a Case Study of a Martian Lava Tube Mission
伸縮ブームを移動用のプリズマティック関節として使うロボットReachBotについて、地形やミッション要件から設計パラメータを最適化するトレードスタディ手法を提案し、火星溶岩チューブ探査に適用した。
著者: Stephanie Newdick, Tony G. Chen, Benjamin Hockman, Edward Schmerling, Mark R. Cutkosky, Marco Pavone
分類: cs.RO
原文アブストラクト
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 geometry, 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 interference. 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.
