AROMA
Automation and Robotics for human Mars
Exploration
The
AROMA study (2000-2002) mainly focused on the definition of robot
configurations for various purposes in modular design, attached to
different Mars rover types. DLR’s contribution to this ESA study consisted
mainly of defining appropriate robotic devices for inspection and
monitoring of facilities on Mars. The definition of smart payload concepts
with low mass and flexible manipulation systems was required. Various
design options have been investigated, ranging from spine robots to the
modular robot design as known from DLR’s 3rd generation robots. The
dexterous spine arm is constructed out of numerous elements and has a
near-hemispherical work envelope. The benefit of this configuration is its
excellent flexibility, low weight, and compactness. It is very well-suited
for inspection tool positioning. However, due to the lack of rotational
degrees of freedom it has some drawbacks for assembly and maintenance
applications. The DLR modular robot arm design is based on a modular joint
mechatronics design. Basically, the arms consist of roll and pitch joints
elements as well as scalable limb lengths.
Concept of a 6-Legged Rover
In addition to the AROMA study, we have developed an innovative,
6-legged micro-rover concept.
The kinematics of the rover is based on six dexterous four-joint
fingers from DLR robot hand II. The fingers, here used as legs, are
attached to a central body in a beetle-like configuration and enable the
overall system to manoeuvre in a rocky terrain (e.g., planetary surface).
Moreover, since all of the joints are equipped with force/torque sensors,
the rover’s motion can be very sensitive.
The kernel of the rover’s motion control is the Inverse Kinematics
algorithm developed as part of a virtual assembly and simulation
environment of the modular light-weight
robot III system. The powerful algorithm can control tree-like
multi-constraint kinematic systems and enables the rover to move in a
natural beetle-like posture taking kinematic and dynamic preferences
(e.g., minimum power consumption) and limitations (e.g., joint angle
range) into account.