Robots to Support a Human Mars Mission

Transcription

1 Robots to Support a Human Mars Mission 1 W. Naumann, P. Hofmann, A. v. Richter Kayser-Threde GmbH Wolfratshauser Str. 48, D München andreas.von.richter@kayser-threde.com 7th Workshop ASTRA 2002 Noordwijk, November

2 INTRODUCTION Automation & Robotics for Human Mars Exploration (AROMA) Projekt Team European expert team AROMA is one of three studies: Kayser-Threde GmbH (Prime Contractor) System Tasks & Management 1. Definition of the overall Mission Architecture (Astrium) 2. Definition of the power systems (QinetiQ) 3. Definition of the req. A&R systems: AROMA Study (Kayser-Threde) 2 Tecnospazio DLR-Space Simulation DLR-Robotics Von Hoerner&Sulger HTS Techn. Univ. Munich TRASYS J H T S - Drilling Devices - Large Robotic Arms - Penetrators, Moles - Large Rovers - Manned Rovers - Small Robotic Arms - Micro Rovers - Mini Rovers - Mechanisms - Automated Instrument Packages - Technology Inventory - Robcad Models - Video 2

3 INTRODUCTION AROMA A & R Systems Utility Truck System Design Locomotive System 3 Moblile Pressurized Lab. S 51 System Design AROMA Architectural Design Overview Locomotive System Dexterous Robotic Arms Shallow and Medium Depth Drilling Tools for MPL Mini and Micro Rovers Autonomous Research Island Dexterous Robotic Arm Mini Inspection Rover Dexterous Robotic Arm Long Distance Rover Shallow and Medium Depth Drilling Tools for MME Deep Dilling System Selfstanding 3

4 4 K A Y S E R - T H R E D E Utility Truck 4

5 5 K A Y S E R - T H R E D E - Mobile Pressurized Lab Type of Wheel All-metallic flexible wheel examples: Pneumatic tyre: 5

6 6 K A Y S E R - T H R E D E Micro and Mini Rovers AROMA Reference System Mini / Micro Rovers 6 Inspection and Monitoring of Facilities Local Investigation Long Distance Exploration Dexterous Robotic Arm Drilling Device Drilling Device Mole Mole

7 Micro and Mini Rovers Central payload cab, 2 DOF, very flexible and precise P/L orientation 2 Trackbodies with tether unit in-between Smart Payload Concepts 7 Low-mass / flexible manipulation systems LPS/RAMAN LASER WINDOW MICROSCOPE LED ILLUMINATION LPS/RAMAN SPECTROMETER WINDOW 7

8 Dexterous Robot Arm Design Options Spine Robot The dexterous spine arm is constructed out of numerous elements as shown in and has a near-hemispherical work envelope. The benefit of this configuration is its excellent flexibility, maneuverability, low weight and compactness. This dexterous robot arm type is very well suitable for inspection tool positioning, but due to the lack of rotational degrees of freedom it has some drawbacks for assembly and maintenance applications. 8 8

9 9 K A Y S E R - T H R E D E Modular Robot Design Modular robot arms are based on a modular joint-mechatronics design, basically the arms consists of roll and pitch joint elements as well as scalable limbs. 9

10 Drilling Systems Corresponding AROMA system and subsystems: Drill & Sample Station: > 20 m (stand alone system) Medium Depth Tools: 5-20 m (for the MPL) Shallow" Drills Tools (Drill or Mole): < 5 m (for equipping mini rovers 10 Drill & Sampling Station (Selfstanding) Drilling System / Subsystems Compact Drill Tools or "shallow" drills or Moles (subsystem of MPL/MMEs) 10

11 Drill System/Subsystems: "Shallow" Drills/Mole Drill concepts / technologies: Mole ( shallow drill) small mole for in situ measurements and sampling example: Mole in development by DLR for planetary mission (Beagle 2) small size in-situ investigation retrieval capability features: operative range: down to 1.5m maximum mass: about 0.9kg length: 30-50cm 11 11

12 12 K A Y S E R - T H R E D E Technology Database Output Data (e.g. Sojourner Rover) 12