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2012 | Buch

Introduction Kapitel lesen Erstes Kapitel lesen

Introduction to the Mechanics of Space Robots

verfasst von: Giancarlo Genta

Verlag: Springer Netherlands

Buchreihe : Space Technology Library

Enthalten in: Springer Professional "Wirtschaft+Technik" , Springer Professional "Technik"

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Über dieses Buch

Based on lecture notes on a space robotics course, this book offers a pedagogical introduction to the mechanics of space robots. After presenting an overview of the environments and conditions space robots have to work in, the author discusses a variety of manipulatory devices robots may use to perform their tasks. This is followed by a discussion of robot mobility in these environments and the various technical approaches. The last two chapters are dedicated to actuators, sensors and power systems used in space robots.
This book fills a gap in the space technology literature and will be useful for students and for those who have an interest in the broad and highly interdisciplinary field of space robotics, and in particular in its mechanical aspects.

Inhaltsverzeichnis

Frontmatter
Chapter 1. Introduction
Abstract
This chapter supplies a short introductory overview of human and robotic space exploration, stressing the need for man-machine cooperation in exploration. The various types of robotic missions in LEO, deep space and on planets and their basic requirements are shortly summarized.
Giancarlo Genta
Chapter 2. Space and Planetary Environment
Abstract
This chapter deals in a synthetic way with the main characteristics of the environments space robots are facing and will face in the future. The environments in which exploration and exploitation robots operate can be roughly subdivided into four types
  • Low Earth orbit
  • Deep space
  • Interstellar medium
  • Planets and small celestial bodies
The latter can be further subdivided in
  • Moon
  • Rocky planets
  • Giant planets
  • Satellites of giant planets
  • Small bodies
Since space environment is a specialized subject, dealt with in many books, this subject is only briefly summarized.
Giancarlo Genta
Chapter 3. Manipulatory Devices
Abstract
Space robots are often provided with manipulatory devices, which are essential to perform tasks like grasping spacecraft or specimens, operating tools or cameras for inspection and many other duties. In most cases these manipulatory devices are open kinematic chains, which may bear some similarity with human arms or at least animal limbs. The generic term arm is used for manipulators that follow the scheme of an open kinematic chain, even if their structure is not anthropomorphic. The chapter describes the most common configurations of robot arms and the basic kinematic and dynamic relationships needed for their design.
Giancarlo Genta
Chapter 4. Mobility on Planetary Surfaces
Abstract
Exploration vehicles, either manned or automatic, can use a variety of means of locomotion to achieve their goal. A first distinction must be made between ground vehicles, i.e. vehicles supported by a solid surface, atmospheric or sea vehicles, i.e. vehicles that move in a fluid without contact with the surface, be it a gas or a liquid, and space vehicles that move in the vacuum of space close to the surface. Most of this chapter is however devoted to the study of mobility on planetary surfaces, using different kind of supporting devices, like wheels or legs.
Giancarlo Genta
Chapter 5. Wheeled Vehicles and Rovers
Abstract
At present there is a limited experience in operating rovers on Mars and an even smaller experience on robotic Moon rovers, while the experience regarding man-carrying vehicles is limited to the Moon and a single case (although with some differences between a mission and another): the LRV (Lunar Roving Vehicle) of the last Apollo Missions, and all these devices used wheels as running gear. In this chapter the behavior of wheeled devices is studied in its various aspects, like longitudinal, lateral and suspension dynamics. The consequences of operating wheeled machines in the various environments are analyzed in some detail. The chapter is concluded by a description of the Apollo Lunar Roving Vehicle.
Giancarlo Genta
Chapter 6. Non-wheeled Vehicles and Rovers
Abstract
The variety of configurations for vehicles and moving robots not based on wheeled locomotion that have been suggested for the exploration of planets with a solid surface is so wide that it is impossible to deal with, or even just to mention, them all. Since the most common are those based on some form of legs, the present section is mainly devoted to walking machines. Apart from legged vehicles, only a few other approaches will be briefly described: wheels–legs hybrids, track–leg hybrids, jumping devices, vehicles on skis and apodal devices.
Giancarlo Genta
Chapter 7. Actuators and Sensors
Abstract
Robots are active system and require a source of energy to power all their functions. The energy needed for operation must be distributed to the various functions and duly modulated, by power converters, which are themselves managed by a suitable low level controller. Finally, a set of transducers, the actuators, operates the various parts of the robot. To close the control loop, another set of transducers, the sensors, supply information about the state and the position of the robot (proprioceptors) or the environment (exteroceptors) to the control system. This chapter is devoted to the study of the most common types of transducers of both types.
Giancarlo Genta
Chapter 8. Power Systems
Abstract
Providing the required power is an open problem in mobile robotics, and in the case of space robotics things are no better. Experimental robots often receive the energy required for moving and performing their tasks through an umbilical cord, but this is not possible in the case of operational devices. Actual space robots must carry with them a power system, supplying all the energy they need for the required working time. This chapter summarizes the energy sources and storage devices that can be used for space robots.
Giancarlo Genta
Backmatter
Metadaten
Titel
Introduction to the Mechanics of Space Robots
verfasst von
Giancarlo Genta
Copyright-Jahr
2012
Verlag
Springer Netherlands
Electronic ISBN
978-94-007-1796-1
Print ISBN
978-94-007-1795-4
DOI
https://doi.org/10.1007/978-94-007-1796-1

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