ORTHO-BOT: A Modular Reconfigurable Space Robot Concept

Abstract

A new set of challenging tasks are envisaged for future robotic planetary space missions. In contrast to conventional exploration rovers, industrial robotic roles are required for object manipulation and transportation in e.g. habitat construction. This prompts research into more robust failsafe robot designs, having greater mission redundancy for cost-effectiveness, with adjustable structures for multi-tasking. A Modular Reconfigurable design is investigated to meet these requirements using linear actuation over revolute since this alternative approach to modular robotics can form truss type structures providing inherently stable structures appropriate to the given task type. For ease of reconfiguration a connectivity solution is sought that may be simple enough to allow self-reconfiguration thus enabling extremely remote autonomous operation. In effort to meet this challenge the ORTHO-BOT developmental concept is introduced in this paper. Based on the core module developed thus far, a walking design has been successfully demonstrated in simulation to fulfil the key requirement of locomotion. Though the focus for this research is aimed at space-based roles conceptual solutions developed should also find useful application in terrestrial remote or hazardous environments.