elib
DLR-Header
DLR-Logo -> http://www.dlr.de
DLR Portal Home | Imprint | Privacy Policy | Contact | Deutsch
Fontsize: [-] Text [+]

Design and Implementation of a Modular Mechatronics Infrastructure for Robotic Planetary Exploration Assets

Fonseca Prince, Andre and Vodermayer, Bernhard and Pleintinger, Benedikt and Kolb, Alexander and Staudinger, Emanuel and Dietz, Enrico and Schröder, Susanne and Frohmann, Sven and Seel, Fabian and Wedler, Armin (2021) Design and Implementation of a Modular Mechatronics Infrastructure for Robotic Planetary Exploration Assets. In: Proceedings of the International Astronautical Congress, IAC. 72nd International Astronautical Congress (IAC), 25-29 Oct 2021, Dubai, UAE. doi: 10.IAC-21,A3,1,7,x64007/2021. ISSN 0074-1795.

[img] PDF
908kB

Abstract

Traditionally, the robotic systems which aim to explore other celestial bodies include all instruments and tools necessary for the mission. This makes them unique developments. Usually, they are heavy, complex, costly and do not provide any interchangeable parts that could be replaced in the event of permanent failure. However, for future missions, agencies, institutes and commercial companies are developing robotics systems based on the concept of modular robotics. This new strategy becomes critical for planetary exploration because it is able to reduce load, costs and development time. In the German multi robot research project, ‘’Autonomous Robotic Networks to Help Modern Societies (ARCHES)”, led by the German Aerospace Center (DLR), this modern design methodology is followed. Cooperation among robots and modularity are the core of its structure. These characteristics are present in the collaboration between the rovers and the uncrewed aerial vehicle (UAV) during navigation tasks, or when the Lightweight Rover Unit (LRU) interacts with changeable manipulator tools and payload boxes through its robotic arm and its standardized electromechanical interface. Examples of these modules include scientific packages, power supply systems, communication and data acquisition architectures, soil sample storage units, and specific purpose end-effectors. The focus of this work is in the design and implementation of a mechatronics infrastructure (MI) which encompasses the docking interface, the payload modules, and the power and data management electronics board inside each box. These three elements are essential for the extension of the capabilities of the rover and the enhancement of the robotics systems according to the tasks to be performed. This will ensure that robots can cooperate with each other either in scientific missions or in the construction and maintenance of large structures. The MI’s hardware and software developed in this project will be tested and validated in the ARCHES demonstration mission on Mount Etna, Sicily, in Italy between 13th June and 9th July 2022. Finally, it is important to highlight that modularity and standardization were considered at all levels of the infrastructure. From the robotics systems to the internal architecture of each payload module, these concepts can provide versatility and reliability to the cooperative robotic network. This will improve the problem-solving capabilities of robots performing complex tasks in future planetary exploration missions.

Item URL in elib:https://elib.dlr.de/145167/
Document Type:Conference or Workshop Item (Speech)
Title:Design and Implementation of a Modular Mechatronics Infrastructure for Robotic Planetary Exploration Assets
Authors:
AuthorsInstitution or Email of AuthorsAuthor's ORCID iD
Fonseca Prince, AndreAndre.FonsecaPrince (at) dlr.dehttps://orcid.org/0000-0001-6820-3689
Vodermayer, BernhardBernhard.Vodermayer (at) dlr.deUNSPECIFIED
Pleintinger, BenediktBenedikt.Pleintinger (at) dlr.deUNSPECIFIED
Kolb, AlexanderAlexander.Kolb (at) dlr.deUNSPECIFIED
Staudinger, EmanuelEmanuel.Staudinger (at) dlr.dehttps://orcid.org/0000-0002-9601-2887
Dietz, EnricoEnrico.Dietz (at) dlr.deUNSPECIFIED
Schröder, SusanneSusanne.Schroeder (at) dlr.deUNSPECIFIED
Frohmann, SvenSven.Frohmann (at) dlr.deUNSPECIFIED
Seel, FabianFabian.Seel (at) dlr.deUNSPECIFIED
Wedler, Arminarmin.wedler (at) dlr.dehttps://orcid.org/0000-0001-8641-0163
Date:October 2021
Journal or Publication Title:Proceedings of the International Astronautical Congress, IAC
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In SCOPUS:Yes
In ISI Web of Science:No
DOI :10.IAC-21,A3,1,7,x64007/2021
ISSN:0074-1795
Status:Published
Keywords:mechatronics, robotics, modularity, exploration
Event Title:72nd International Astronautical Congress (IAC)
Event Location:Dubai, UAE
Event Type:international Conference
Event Dates:25-29 Oct 2021
Organizer:International Astronautical Federation (IAF)
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Robotics
DLR - Research area:Raumfahrt
DLR - Program:R RO - Robotics
DLR - Research theme (Project):R - Mechatronics [RO], R - Lightweight robotics [RO]
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Mechatronic Systems
Deposited By: Fonseca Prince, Andre
Deposited On:15 Nov 2021 08:53
Last Modified:15 Nov 2021 08:53

Repository Staff Only: item control page

Browse
Search
Help & Contact
Information
electronic library is running on EPrints 3.3.12
Copyright © 2008-2017 German Aerospace Center (DLR). All rights reserved.