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DELIAN Arm Development and Test for Mars Sample Acquisition
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, Foresti Luca, Fumagalli Alessandro, Molina Marco
Paper for Seminar/Symposium/Conference
IAC 2018 - International Astronautical Congress (01-05 October 2018, Bremen, Germany)
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