Dynamic Modeling and Simulation of a Robotic Lander Based on Variable Radius Drums

Abstract

Soft-landing on planetary surfaces is the main challenge in most space exploration missions. In this work, the dynamic modeling and simulation of a three-legged robotic lander based on variable radius drums are presented. In particular, the proposed robotic system consists of a non-reversible mechanism that allows a landing object to constant decelerate in the phase of impact with ground. The mechanism is based on variable radius drums, which are used to shape the elastic response of a spring to produce a specific behavior. A dynamic model of the proposed robotic lander is first presented. Then, its behavior is evaluated through numerical multibody simulations. Results show the feasibility of the proposed design and applicability of the mechanism in landing operations.

Modelling and Control of Mechatronic and Robotic Systems

“…Paper [23] presents a general approach to endow a robot with the ability to sense the terrain being traversed. In [24], the authors propose a novel design of a robotic legged lander based on variable radius drums actuated by cables. Thanks to this device, the robotic system can effectively decelerate with constant force during impact with ground.…”

The Archimede Rover: A Comparison Between Simulations and Experiments

“…The task of exploring the surface of celestial bodies such as planets, moons, and asteroids is typically tackled using one of two approaches: static robotic probes called landers [1,2] and moving autonomous vehicles called rovers [3][4][5]. While landers are useful for very precise and accurate measurements of aspects of the environment which do not change with respect to their position, e.g., the weather [6], rovers offer a significant advantage in being able to inspect a wider area with focused and accurate investigations [7,8].…”

“…The paper is structured as follows: in Section 2 a kinematics model of the fourwheel steered rover Archimede is presented, including both the steering geometry and the odometric system; in Section 3, a detailed description of the experimental tests is reported, along with the simulation framework; in Section 4, we discuss the results and evaluate the reality gap that arises with simulations; finally, in Section 5, we present the conclusions of the study, highlighting (1) the good similarity between the simulated results in the case of motion in the plane, (2) the relation between slope angle and drift in all scenarios and with both soils, and (3) we discuss future research directions.…”