Statistics – Applications
Scientific paper
Jan 2007
adsabs.harvard.edu/cgi-bin/nph-data_query?bibcode=2007aipc..880..711c&link_type=abstract
SPACE TECHNOLOGY AND APPLICATIONS INTERNATIONAL FORUM-STAIF 2007: 11th Conf Thermophys.Applic.in Micrograv.; 24th Symp Space Nuc
Statistics
Applications
Spaceborne And Space Research Instruments, Apparatus, And Components
Scientific paper
This paper describes the development and testing of a patented rover concept called Tetrahedral Explorer Technologies (TET), designed to provide extreme mobility and plug-and-play utility through reconfigurable addressable architecture. Here, we present the results of preliminary lab and field tests of Prototype III. Reconfigurable architecture is essential in exploration because reaching features of the great potential interest will require crossing a wide range of terrains largely inaccessible to permanently appendaged vehicles. One surface might be relatively flat and navigable, while another could be rough, variably sloping, broken, or dominated by unconsolidated debris. To be totally functional, structures must form pseudo-appendages varying in size, rate, and manner of deployment (gait) and moving at a speed approaching that of a human in rugged terrain. TET architecture is based on the tetrahedron, the basic space-filling shape, as building block. Tetrahedra are interconnected, their apices acting as nodes from which struts reversibly deploy. The tetrahedral framework acts as a simple skeletal muscular structure. Two simple robotic walker prototypes have already been developed from a single reconfigurable tetrahedron capable of tumbling. This paper presents the results of our attempts to simulate motions, improve the hardware, and develop gaits for a more evolved 12Tetrahedral Walker (Prototype 3) which high degrees of freedom locomotion commandable through a user friendly interface. Our rover is an early level mission concept, realized as an electromechanical system at present, which would allow autonomous in situ exploration of lunar sites when we return to the Moon. Such a rover could carry into inaccessible terrain an in situ analysis payload designed to provide not only details of composition of traversed terrain, but the identification of sites with resources useful for permanent bases, including water and high Ti glass.
Brown Garfield
Cheung Chi-Yee
Clark Pamela E.
Cooperrider C.
Curtis Steven Andrew
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