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Dextrous Lightweight Arm for Exploration (DELIAN)
The DELIAN project aims at studying and subsequently developing the technology building blocks that would aid the development of a class of robotic arms for the future Martian rovers and landers. Key issues of this development are the very limited resource allocation in terms of mass, power and volume as well as high performance requirements. A conceptual arm design is conducted for different mission application scenarios. Families of joints are identified which will be used as building blocks for the arm. A selected joint is further designed and developed at engineering model level. Preliminary test results are included. The arm control system is described, suggesting specific solutions for controlling a very lightweight arm as DELIAN.
Rusconi Andrea, Magnani Piergiovanni, Michaud Stéphane, Gruener Gabriel, Terrien Grégoire, Merlo Andrea
Paper for Seminar/Symposium/Conference
ASTRA 2015 - Symposium on Advanced Space Technologies in Robotics and Automation (11-13 May 2015, ESA/ESTEC, Noordwijk, The Netherlands)
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