Loading...
Please wait, while we are loading the content...
Similar Documents
Hardware Design and Testing of SUPERball, A Modular Tensegrity Robot
| Content Provider | Semantic Scholar |
|---|---|
| Author | Sabelhaus, Andrew P. Bruce, Jonathan Caluwaerts, Ken Chen, Yangxin Lu, Dizhou Liu, Yuejia Agogino, Adrian K. Spiral, Vytas Sun Agogino, Alice M. |
| Copyright Year | 2014 |
| Abstract | Tensegrity robots are inherently compliant, like biological structures, and globally distribute forces within the structure. Thus tensegrity robots are well suited for physical interactions with complex and poorly modeled natural environments. Tensegrity structures also have a high strength-to-weight ratio which is attractive for planetary exploration missions due to the potential to lower launch mass and reduce overall mission cost. It has been shown that large tensegrity structures can be deployed from small compact configurations which enable them to fit into space-constrained launch fairings [1]. The Dynamic Tensegrity Robotics Lab (DTRL) at the NASA Ames Research Center seeks to exploit this inherent compliance, along with the unique force distribution qualities of tensegrity structures, for the next-generation rovers utilized in planetary exploration missions. The SUPERball (Spherical Underactuated Planetary Exploration Robot) project seeks to develop a tensegrity robotic probe with an actively controllable tensile network that can be compactly stowed for launch, deployed in preparation for landing, land with little or no extra equipment, protect a payload of scientific instruments much like an airbag, and then achieve dynamic locomotion over unknown terrain [1]. SUPERball will combine Entry, Descent and Landing (EDL) with ground locomotion in a single robotic system. Work has focused on a 6-strut icosahedron for simplicity of design, since this is the lowest-order tensegrity system in a symmetric spherical shape that would tend toward rolling locomotion. The knowledge that there are many other morphologies to be explored as SUPERball matures from a fundamental research project supported by the NASA Innovative Advanced Concepts (NIAC) program, towards a potential future mission has inspired the modular approach that will enable heterogeneous end-caps to be assembled into a wide range of novel tensegrity structures. |
| File Format | PDF HTM / HTML |
| Alternate Webpage(s) | https://ntrs.nasa.gov/archive/nasa/casi.ntrs.nasa.gov/20140011157.pdf |
| Alternate Webpage(s) | http://www.sunspiral.org/vytas/cv/6WCSCM_superball_published.pdf |
| Language | English |
| Access Restriction | Open |
| Content Type | Text |
| Resource Type | Article |
