Research/ IN-SPACE SERVICING
A Novel Modular Spherical Joint for Truss Robots
Running, Ivyann O., Charles, Simon, Francom, Eli, Parkinson, Bryce, Rose, Adam, Pruett, Hunter, Howell, Larry, Nathan S. Usevitch
Design, Mechanisms & HardwareOpenAlex topic: Modular Robots and Swarm Intelligence · Manipulation & GraspingOpenAlex topic: Robotic Mechanisms and Dynamics · Multi-Robot & SwarmsOpenAlex topic: Modular Robots and Swarm Intelligence
Truss robots and structures are beneficial for lunar missions because of their high strength-to-mass ratio. Even better are robots and structures that are highly modular, allowing the same materials to be rearranged to perform various tasks. The joints of these robots are what must be connected and disconnected to create different truss forms. Therefore, it is necessary to develop highly mobile, modular spherical joints that allow multiple truss elements to attach. Moreover, these joints must be resistant to the lunar regolith. Our contribution in this paper is the design of a new spherical joint and its application to an isoperimetric robot.