论文标题
设计ReachBot：使用火星熔岩管任务的案例研究系统设计过程
Designing ReachBot: System Design Process with a Case Study of a Martian Lava Tube Mission
论文作者
论文摘要
在本文中，我们提出了一种基于贸易研究的方法，以优化Reachbot的体系结构，Reachbot是一种新的机器人概念，该概念将可部署的吊杆用作不良重力条件和挑战地形环境中流动性的棱柱形关节。具体来说，我们介绍了一个设计过程，其中我们分析了Reachbot设计与其任务的兼容性。我们整合了地形参数和任务要求，以制作针对特定任务目标的最终设计。 Reachbot的设计参数包括（1）繁荣的数量，（2）在Reachbot的底盘上的繁荣的位置和方向，（（3）臂臂最大扩展，（4）繁荣的横截面几何形状和（5）每个接头上有效/被动度的自由度。使用一阶近似值，我们分析了这些参数与各种性能指标之间的关系，包括稳定性，可操作性和机械干扰。我们将我们的方法应用于一项任务，其中Reachbot从火星熔岩管中导航并收集数据。结果设计如图1所示。
In this paper we present a trade study-based method to optimize the architecture of ReachBot, a new robotic concept that uses deployable booms as prismatic joints for mobility in environments with adverse gravity conditions and challenging terrain. Specifically, we introduce a design process wherein we analyze the compatibility of ReachBot's design with its mission. We incorporate terrain parameters and mission requirements to produce a final design optimized for mission-specific objectives. ReachBot's design parameters include (1) number of booms, (2) positions and orientations of the booms on ReachBot's chassis, (3) boom maximum extension, (4) boom cross-sectional geometry, and (5) number of active/passive degrees-of-freedom at each joint. Using first-order approximations, we analyze the relationships between these parameters and various performance metrics including stability, manipulability, and mechanical interference. We apply our method to a mission where ReachBot navigates and gathers data from a martian lava tube. The resulting design is shown in Fig. 1.
