This paper describes main design issues towards the realization of a grasping prototype that can be used on a rover for removing rocks and debris from the lunar soil. The proposed gripper design is aiming to avoid a dedicated actuation for optimising reliability and minimising weights. For this purpose, a passive grasping operation is proposed by using the available motion capabilities of a lunar rover. Design constrains have been analytically formalized and suitable sizes have been selected for the proposed grasping mechanism. The proposed design solution has been implemented as a multi-body model within MSC.ADAMS environment for numerical validations of its kinematics and dynamic behaviour.
Modelling and simulation of a gripping device for obstacle removing on lunar soil / Carbone, G.; Falchi, C.; Manuello Bertetto, A.; Ceccarelli, M.. - In: INTERNATIONAL JOURNAL OF MECHANICS AND CONTROL. - ISSN 1590-8844. - 14:1(2013), pp. 25-31.
Modelling and simulation of a gripping device for obstacle removing on lunar soil
Manuello Bertetto A.;
2013
Abstract
This paper describes main design issues towards the realization of a grasping prototype that can be used on a rover for removing rocks and debris from the lunar soil. The proposed gripper design is aiming to avoid a dedicated actuation for optimising reliability and minimising weights. For this purpose, a passive grasping operation is proposed by using the available motion capabilities of a lunar rover. Design constrains have been analytically formalized and suitable sizes have been selected for the proposed grasping mechanism. The proposed design solution has been implemented as a multi-body model within MSC.ADAMS environment for numerical validations of its kinematics and dynamic behaviour.Pubblicazioni consigliate
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https://hdl.handle.net/11583/2961235