A Modular Reconfigurable Robot for Future Autonomous Extraterrestrial Missions

This study proposes a heterogeneous modular reconfigurable robot called SABER (short for Step, Assembler, and Bridge Explorer Robot) that is suitable for future autonomous extraterrestrial missions. SABER comprises a platform and a reconfigurable rail and can operate in monowheel, rail trolley, and...

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Autores principales:	Alexey M. Romanov, Vladimir D. Yashunskiy, Wei-Yu Chiu
Formato:	article
Lenguaje:	EN
Publicado:	IEEE 2021
Materias:	Mobile robots mechatronics mechanical engineering mechanical power transmission reconfigurable architectures actuators Electrical engineering. Electronics. Nuclear engineering TK1-9971
Acceso en línea:	https://doaj.org/article/317df9e2e9c542b7a3d72ab3b2fc7352
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id	oai:doaj.org-article:317df9e2e9c542b7a3d72ab3b2fc7352
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spelling	oai:doaj.org-article:317df9e2e9c542b7a3d72ab3b2fc73522021-11-18T00:07:33ZA Modular Reconfigurable Robot for Future Autonomous Extraterrestrial Missions2169-353610.1109/ACCESS.2021.3124951https://doaj.org/article/317df9e2e9c542b7a3d72ab3b2fc73522021-01-01T00:00:00Zhttps://ieeexplore.ieee.org/document/9598904/https://doaj.org/toc/2169-3536This study proposes a heterogeneous modular reconfigurable robot called SABER (short for Step, Assembler, and Bridge Explorer Robot) that is suitable for future autonomous extraterrestrial missions. SABER comprises a platform and a reconfigurable rail and can operate in monowheel, rail trolley, and manipulator configurations. The monowheel configuration provides locomotion at a top speed of 10 km/h. The rail trolley configuration allows the robot to traverse gaps whose length is greater than its wheel diameter, climb steps whose height is no taller than the wheel radius, and pass through passages narrower than the wheel diameter. The manipulator configuration enables the robot to manipulate objects using two robotic arms with changeable tools. This design allows several SABERs to work as a team to enlarge their working area or enhance their mechanical capabilities. As such, SABERs can undertake various tasks in extraterrestrial missions, including exploration, outpost building and equipment maintenance. The key feature of the SABER is its mechanical transmission that allows its platform to move rapidly along a rail made from the manipulators of the robot. We also formulated the novel concept of a jamming safety diagram that is used to determine controller precision requirements to prevent the transmission from jamming. Finally, a new positioning controller meeting those requirements was introduced and implemented as field-programmable-gate-array firmware that is compatible with a wide range of low-cost integrated circuits. In numerical simulations, we evaluated SABER with respect to its speed, acceleration, oscillation, and ability to negotiate gaps and steps; SABER performed as well as or better than existing autonomous mobile robots and modular reconfigurable robots.Alexey M. RomanovVladimir D. YashunskiyWei-Yu ChiuIEEEarticleMobile robotsmechatronicsmechanical engineeringmechanical power transmissionreconfigurable architecturesactuatorsElectrical engineering. Electronics. Nuclear engineeringTK1-9971ENIEEE Access, Vol 9, Pp 147809-147827 (2021)
institution	DOAJ
collection	DOAJ
language	EN
topic	Mobile robots mechatronics mechanical engineering mechanical power transmission reconfigurable architectures actuators Electrical engineering. Electronics. Nuclear engineering TK1-9971
spellingShingle	Mobile robots mechatronics mechanical engineering mechanical power transmission reconfigurable architectures actuators Electrical engineering. Electronics. Nuclear engineering TK1-9971 Alexey M. Romanov Vladimir D. Yashunskiy Wei-Yu Chiu A Modular Reconfigurable Robot for Future Autonomous Extraterrestrial Missions
description	This study proposes a heterogeneous modular reconfigurable robot called SABER (short for Step, Assembler, and Bridge Explorer Robot) that is suitable for future autonomous extraterrestrial missions. SABER comprises a platform and a reconfigurable rail and can operate in monowheel, rail trolley, and manipulator configurations. The monowheel configuration provides locomotion at a top speed of 10 km/h. The rail trolley configuration allows the robot to traverse gaps whose length is greater than its wheel diameter, climb steps whose height is no taller than the wheel radius, and pass through passages narrower than the wheel diameter. The manipulator configuration enables the robot to manipulate objects using two robotic arms with changeable tools. This design allows several SABERs to work as a team to enlarge their working area or enhance their mechanical capabilities. As such, SABERs can undertake various tasks in extraterrestrial missions, including exploration, outpost building and equipment maintenance. The key feature of the SABER is its mechanical transmission that allows its platform to move rapidly along a rail made from the manipulators of the robot. We also formulated the novel concept of a jamming safety diagram that is used to determine controller precision requirements to prevent the transmission from jamming. Finally, a new positioning controller meeting those requirements was introduced and implemented as field-programmable-gate-array firmware that is compatible with a wide range of low-cost integrated circuits. In numerical simulations, we evaluated SABER with respect to its speed, acceleration, oscillation, and ability to negotiate gaps and steps; SABER performed as well as or better than existing autonomous mobile robots and modular reconfigurable robots.
format	article
author	Alexey M. Romanov Vladimir D. Yashunskiy Wei-Yu Chiu
author_facet	Alexey M. Romanov Vladimir D. Yashunskiy Wei-Yu Chiu
author_sort	Alexey M. Romanov
title	A Modular Reconfigurable Robot for Future Autonomous Extraterrestrial Missions
title_short	A Modular Reconfigurable Robot for Future Autonomous Extraterrestrial Missions
title_full	A Modular Reconfigurable Robot for Future Autonomous Extraterrestrial Missions
title_fullStr	A Modular Reconfigurable Robot for Future Autonomous Extraterrestrial Missions
title_full_unstemmed	A Modular Reconfigurable Robot for Future Autonomous Extraterrestrial Missions
title_sort	modular reconfigurable robot for future autonomous extraterrestrial missions
publisher	IEEE
publishDate	2021
url	https://doaj.org/article/317df9e2e9c542b7a3d72ab3b2fc7352
work_keys_str_mv	AT alexeymromanov amodularreconfigurablerobotforfutureautonomousextraterrestrialmissions AT vladimirdyashunskiy amodularreconfigurablerobotforfutureautonomousextraterrestrialmissions AT weiyuchiu amodularreconfigurablerobotforfutureautonomousextraterrestrialmissions AT alexeymromanov modularreconfigurablerobotforfutureautonomousextraterrestrialmissions AT vladimirdyashunskiy modularreconfigurablerobotforfutureautonomousextraterrestrialmissions AT weiyuchiu modularreconfigurablerobotforfutureautonomousextraterrestrialmissions
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A Modular Reconfigurable Robot for Future Autonomous Extraterrestrial Missions

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