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Proceedings Paper

Robot manipulator technologies for planetary exploration
Author(s): Hari Das; Xiaoqi Bao; Yoseph Bar-Cohen; Robert Bonitz; Randall A. Lindemann; Mark Maimone; Issa A. Nesnas; Christopher J. Voorhees
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Paper Abstract

NASA exploration missions to Mars, initiated by the Mars Pathfinder mission in July 1997, will continue over the next decade. The missions require challenging innovations in robot design and improvements in autonomy to meet ambitious objectives under tight budget and time constraints. The authors are developing design tools, component technologies and capabilities to address these needs for manipulation with robots for planetary exploration. The specific developments are: (1) a software analysis tool to reduce robot design iteration cycles and optimize on design solutions, (2) new piezoelectric ultrasonic motors for light-weight and high torque actuation in planetary environments, (3) use of advanced materials and structures for strong and light-weight robot arms and (4) intelligent camera-image coordinated autonomous control of robot arms for instrument placement and sample acquisition from a rover vehicle.

Paper Details

Date Published: 9 June 1999
PDF: 8 pages
Proc. SPIE 3668, Smart Structures and Materials 1999: Smart Structures and Integrated Systems, (9 June 1999); doi: 10.1117/12.350698
Show Author Affiliations
Hari Das, Jet Propulsion Lab. (United States)
Xiaoqi Bao, Jet Propulsion Lab. (United States)
Yoseph Bar-Cohen, Jet Propulsion Lab. (United States)
Robert Bonitz, Jet Propulsion Lab. (United States)
Randall A. Lindemann, Jet Propulsion Lab. (United States)
Mark Maimone, Jet Propulsion Lab. (United States)
Issa A. Nesnas, Jet Propulsion Lab. (United States)
Christopher J. Voorhees, Jet Propulsion Lab. (United States)

Published in SPIE Proceedings Vol. 3668:
Smart Structures and Materials 1999: Smart Structures and Integrated Systems
Norman M. Wereley, Editor(s)

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