کد مقاله | کد نشریه | سال انتشار | مقاله انگلیسی | نسخه تمام متن |
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1714088 | 1519931 | 2016 | 9 صفحه PDF | دانلود رایگان |
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 1 Kg payload for the end-effector is effectively feasible with substantial margin for an equilateral triangular workspace of 10 m side. Finally, several possible practical applications are illustrated.
Journal: Acta Astronautica - Volume 123, June–July 2016, Pages 145–153