Archivio Istituzionale della RicercaIn this paper two particular subsystems of a worker rover, developed as a collaboration between two academic institutions, has been described for an optimal functionality. The rover has a gripper mechanism and four legs: these components are the on board mechanical subsystems. The gripper mechanism, described in the paper, is designed to operate without motors and the leg of this rover comprises a mechanism for lifting weights and has a decoupling structural joint. The design optimization was performed by means of parametric modelling and numerical simulations. © 2010 IEEE.
A working lunar rover: Passive gripper mechanism and actuated leg / Ambu, A.; Manuello Bertetto, A.; Falchi, C.. - (2010), pp. 199-203. (Intervento presentato al convegno 19th International Workshop on Robotics in Alpe-Adria-Danube Region, RAAD 2010 tenutosi a Balatonfured, hun nel 2010) [10.1109/RAAD.2010.5524585].
A working lunar rover: Passive gripper mechanism and actuated leg
Manuello Bertetto A.;
2010
Abstract
In this paper two particular subsystems of a worker rover, developed as a collaboration between two academic institutions, has been described for an optimal functionality. The rover has a gripper mechanism and four legs: these components are the on board mechanical subsystems. The gripper mechanism, described in the paper, is designed to operate without motors and the leg of this rover comprises a mechanism for lifting weights and has a decoupling structural joint. The design optimization was performed by means of parametric modelling and numerical simulations. © 2010 IEEE.
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https://hdl.handle.net/11583/2961257