BILL-E: Robotic Platform for Locomotion and Manipulation of Lightweight Space Structures
BILL-E: Robotic Platform for Locomotion and Manipulation of Lightweight Space Structures
We describe a robotic platform for traversing and manipulating a modular 3D lattice structure. The robot is designed to operate within a specifically structured environment, which enables low numbers of degrees of freedom (DOF) compared to robots performing comparable tasks in an unstructured environment. This allows for simple controls, as well as low mass and cost. This approach, designing the robot relative to the local environment in which it operates, results in a type of robot we call a "relative robot." We describe a bipedal robot that can locomote across a periodic lattice structure, as well as being able to handle, manipulate, and transport building block parts that compose the lattice structure. Based on a general inchworm design, the robot has added functionality for traveling over and operating on a host structure.
Document information
BILL-E: Robotic Platform for Locomotion and Manipulation of Lightweight Space Structures
2017
12 pages
Report
No indication
English
Computers, Control & Information Theory , Unmanned Spacecraft , Manned Spacecraft , Civil Engineering , Robotics , Robots , Spacecraft structures , Locomotion , Three dimensional motion , Large space structures , Cubic lattices , Design analysis , Degrees of freedom , Blocks , Additive manufacturing , Costs , Mass
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