Conceptual design and motion analysis of robotic sphere and soft aerial robot for space exploration

Abstract

This paper deals with the category of exploratory robotic systems, which is a necessity as the thirst for extraterrestrial survival becomes imminent. Therefore, a robotic system has been proposed along with its conceptual design and motion analysis for its working on the Martian surface. The robotic system consists of two major modules: a robotic sphere and a soft aerial robot (bio-inspired). The robotic sphere will perform the land-based exploration while the aerial robot will navigate through the Martian atmosphere. The soft aerial robot will be encapsulated inside the robotic sphere so that it can be protected from unexpected disastrous events like sand storms which are prone to occur. The system as a whole utilizes rigid components as well as soft actuators. The traversing of a robotic sphere is based on the principle of a shift in the Center Of Mass (COM), while the bio-inspired flapping in the aerial robot is achieved by using Shape Memory Alloy (SMA) springs. Motion analysis has been carried out for both the modules and results are presented. Motion captures at various instances and derived parametric plots are discussed. A result for SMA spring simulation is also included. The specific materials of the components has not been included and can be considered for future studies. The papers opens up a huge domain for soft robotic systems to be used for exploratory purposes. This paper consists of original piece of work, presenting a major piece in writing for the first time.