Evaluation of a dust-resistant docking mechanism for surface exploration robots

Abstract

In this paper, the development of a docking device for a self-reconfigurable multi-module system with high heterogeneity is presented. The docking device, more precisely the electromechanical interface, is used to connect mobile and immobile units with each other in order to provide a reliable mechanical connection as well as to allow energy and data transfer. A gender-principle approach was chosen which allows docking in different positions. This paper focuses on the mechanical design and conducted experiments. Robustness against influence of particles in size 0,02 mm up to 1,3 mm was proven. Docking operations with loads of up to 600 N are possible. Three different contact probe types are evaluated to find an adequate tip for reliably contacting in dusty environments. The work presented in this paper is part of the RIMRES 1 [1] project.

Reconfigurable Integrated Multirobot Exploration System (RIMRES): Heterogeneous Modular Reconfigurable Robots for Space Exploration

“…The guidance pins allow either compensation of an offset of 6 mm or a rotation of 7° [for details, see Wenzel et al. ()]. The error in z is not of great significance and can also be easily compensated for by the final docking process using a force torque measurement by CREX .…”

“…Thus, it is of special importance for realizing the reconfiguration capability in RIMRES. The design of the EMI was driven by the requirements of establishing a reliable and robust physical connection between two systems (Wenzel et al., ), i.e., allowing Sherpa to carry CREX, building subsystems of combinations of payload‐items, and at the same time providing data and energy transfer between systems via this interface. Additionally, to fulfill these requirements in a lunar environment, dust‐resistance of the interface was a primary objective, and experiments as illustrated in Figure proved the working of the interface even under these extreme conditions.…”

“…Specifically designed to allow construction of additional payloads, or to extend the functionality of some of the main systems, payload‐items are cubic modules with an active EMI in the bottom face and a passive EMI in the top face (Wenzel et al., ). By stacking the payload‐items, different scientific payloads and infrastructure elements can be assembled.…”

“…Scarab (Wettergreen et al, 2009) is a four-wheeled rover that combines a rather classical bogie suspension with an active DOF to enhance the ability to climb and drive along slopes. Furthermore, control of the body height as well as the roll angle of the robot is possible.…”

“…In Figure , the systems are depicted. In general, the EMI serves several use‐cases: (1) docking of Sherpa and CREX, (2) manipulating modular payload‐items, (3) stacking of payload‐items to form payloads, and (4) attaching payload‐items to the mobile systems, which is made possible by using the EMI (Wenzel et al., ).…”