The document proposes a robotic infrastructure for space exploration consisting of modular robotic components that can be assembled in different configurations to perform various tasks. The objectives are to demonstrate the flexibility and feasibility of this approach through simulation and animation. The infrastructure would include modules for power, mobility, joints, links, sensors and end-effectors that could be combined to deploy equipment, explore environments, and support human space missions and colonies on Mars, the Moon and asteroids.

1. A Robotic Infrastructure for Space
Exploration
Shane Farritor, Assistant Professor
University of Nebraska-Lincoln
11/9/99 A Robotic Infrastructure for Space Exploration

2. A Robotic Infrastructure
• Robotic modules that can be assembled to create a
variety of robots for various tasks
– Joints, connecting links, end-effectors, power supplies,
sensors, science instruments
• Advantages: flexibility, reliability
11/9/99 A Robotic Infrastructure for Space Exploration

3. Phase 1 Objectives
• Perform many tasks with limited resources
• Demonstrate:
– Usefulness of the approach
– Feasibility of the approach
• Using simulation and animation
11/9/99 A Robotic Infrastructure for Space Exploration

4. Mission Objectives
• Mission scenarios
– “Robots will be used extensively to reduce astronaut
EVA time”
• Mars
– Human precursor mission
– Human exploration
– Robot colonies
• Lunar / small bodies (asteroids)
11/9/99 A Robotic Infrastructure for Space Exploration

5. Tasks
• Deploy nuclear power supply
• Deploy science instruments
• Autonomous exploration
• Support human exploration
• Regolith manipulation
• Tele-operated – autonomous – direct operation
11/9/99 A Robotic Infrastructure for Space Exploration

6. Inventory Design
• Create robots that can accomplish the most tasks
using the least modules
• Inventory includes:
– Power modules
– Base modules
– Joints
– Kinematic links
– End-effectors
– Sensors
11/9/99 A Robotic Infrastructure for Space Exploration

7. Power Modules
• IC engine
• Small battery • Large battery
– Methane/O2
– Electrical generator
– High energy
11/9/99 A Robotic Infrastructure for Space Exploration

8. Base Modules
• Mobile platform
– Standardized interface
• 3 sizes (10,15,30cm)
– Out-rigger support
– Power supply interface
• Un-pressurized Mobility Unit
– Front & Rear Interfaces
– Transport 1 astronaut
– Operate Autonomously/Tele-operated/
Directly Driven
11/9/99 A Robotic Infrastructure for Space Exploration

9. Joints
Axial joints Rotary joints
10 cm
15 cm
30 cm
11/9/99 A Robotic Infrastructure for Space Exploration

10. Module Specifications
15 cm (interface)
• Joint stall torque = 150 n-m
• Maximum velocity = 140 degrees/s
• Mass = 8 kg
• Joint limits = +/- 230 degrees
11/9/99 A Robotic Infrastructure for Space Exploration

11. Links
10 cm
15 cm
30 cm
Length
11/9/99 A Robotic Infrastructure for Space Exploration

12. End-effectors / Sensors
• Grippers
– 10 cm
– 15 cm
• Plow, blade, back hoe
• Science instruments
• Sensors for tele-, autonomous, driven operation
11/9/99 A Robotic Infrastructure for Space Exploration

13. Simulation
• Detailed physical simulation
• Adaptable to many assemblies
• Quasi-static approach
– Power consumption, actuator saturation, stability, joint
limits, workspace limits
11/9/99 A Robotic Infrastructure for Space Exploration

14. Simulation
Joint 1 Torque Stability Margin Energy
11/9/99 A Robotic Infrastructure for Space Exploration

15. Animation
11/9/99 A Robotic Infrastructure for Space Exploration

16. Completing Phase I
• Increase the diversity of the inventory
– End-effectors
• Demonstrate tasks:
– Deploy nuclear power supply
– Various assemblies accomplishing various tasks
– Create solar flare bunker (bury a habitat)
• Propagate results
11/9/99 A Robotic Infrastructure for Space Exploration

17. Future Work
• Demonstrate the “robot colony” approach
• Demonstrate self-assembly
• Study interface issues
11/9/99 A Robotic Infrastructure for Space Exploration

18. Energy Consumption
• Assume actuators are dominate power
consumption elements
• Quasi-static analysis
J F T τ =
i t motor τ = k i
motor P = Vi
E = PΔt
11/9/99 A Robotic Infrastructure for Space Exploration