Abstract
The article summarizes research on essential contributors to energy dissipation in an actuator for an exemplary planetary exploration hopping robot. It was demonstrated that contact dynamics could vary significantly depending on the surface type. As a result, regolith is a significant uncertainty factor to the control loop and plays a significant contribution in the control system development of future planetary exploration robots. The actual prototype of the actuating mechanism was tested on a reference surface and then compared with various surfaces (i.e., Syar, quartz sand, expanded clay, and quartz aggregate) to estimate the dissipation of the energy in the initial phase of hopping. Test outcomes are compared with multibody analysis. The research enhances trajectory planning and adaptive control of future hopping robots by determining three significant types of energy losses in the system and, most importantly, determining energy dissipation coefficients in contact with the various surfaces (i.e., from 4% to 53% depending on the surface type). The actual step-by-step methodology is proposed to analyze energy dissipation aspects for a limited number of runs, as it is a case for space systems.
Highlights
We present the research results into a high-energy and high-performance actuator developed for future scout hopping robots for planetary exploration applications
We focus on the phase of energy release in the actuator divided into three components: (1) energy dissipation resulting from the division of mass and inertia; (2) energy dissipation due to friction and losses in the mechanism; (3) energy dissipation resulting from regolith contact
Demonstrate the system’s functionality on the actual prototype, i.e., symmetrical actuation of the floating spring, actuating mechanism tensioning the actuating leg through a reel assembly and string system; validate the multibody analysis and confirm the assumed dynamics of the system; identify the percent of energy dissipated or lost in the actuating mechanism; identify the percent of energy dissipation in contact with the surface to narrow down the hopping uncertainties; eventually, demonstrate how the method translates to errors of the performance predictions of the 1-D system utilizing the identified coefficients as simple scaling factors in the control loop
Summary
We present the research results into a high-energy and high-performance actuator developed for future scout hopping robots for planetary exploration applications. (3) energy dissipation resulting from regolith contact. The latter is essential because it allows reducing the uncertainties related to interaction with the regolith and adapt to variable surface conditions, which is one of the main risks when planning trajectories and controlling this type of robot. This article demonstrates the functionality of a 1-D prototype of an actuator applicable for space missions. It proposes the actual step-by-step methodology to analyze energy dissipation aspects for a limited number of runs as it is a case for space systems
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