9 June 1999 Robot manipulator technologies for planetary exploration
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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.
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Hari Das, Hari Das, Xiaoqi Bao, Xiaoqi Bao, Yoseph Bar-Cohen, Yoseph Bar-Cohen, Robert Bonitz, Robert Bonitz, Randall A. Lindemann, Randall A. Lindemann, Mark Maimone, Mark Maimone, Issa A. Nesnas, Issa A. Nesnas, Christopher J. Voorhees, Christopher J. Voorhees, } "Robot manipulator technologies for planetary exploration", Proc. SPIE 3668, Smart Structures and Materials 1999: Smart Structures and Integrated Systems, (9 June 1999); doi: 10.1117/12.350698; https://doi.org/10.1117/12.350698
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