tailieunhanh - Aerospace Technologies Advancements Fig Part 7

Tham khảo tài liệu 'aerospace technologies advancements fig part 7', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | 198 Aerospace Technologies Advancements Fig. 10. 8-legged system SCORPION Image Courtesy University of Bremen DARPA NASA Fig. 11. DLR Walker robot Image Courtesy Gorner 2007 three independent actuated joints that enable omni-directional walking. The base-joint actuating system in each leg essentially consists of brushless DC motors tooth belts harmonic drive gears and bevel gears. The base-joint is connected to the main body. It is of differential bevel gear type and movable in two DOF. The actuating system in the medial joint has relatively less power than the base joint and is designed to meet the conditions in the base joint when the leg is in stretched configuration. The third joint near the tip is passive and coupled to medial joint actuating system. Each leg has three joint-position three joint-torque one forcetorque three motor-torque and six temperature sensors. The leg tip has a force-torque sensor that measures forces in six dimensions. Due to the force torque sensing at the gear output it is most favorable to apply advanced so-called soft control algorithms. The most promising concept is to apply virtual Robot Mobility Systems for Planetary Surface Exploration - State-of-the-Art and Future Outlook A Literature Survey 199 springs damping forces to each joint in order to allow any kind of softly forced motion. Different walking gaits have been realized to overcome any complexly structured terrain. Presently this DLR walker is primarily used to study advanced navigation algorithms that autonomously map the 3D environment localize itself and determine the next safe trajectory in this mapped environment. This is made possible by using the in-house developed Semi-Global Matching Method algorithm Hirschmuller 2008 . 6. Hoppers Hopping robots or hoppers were proposed as a cost-effective solution for planetary surface mobility to other systems. Unlike for other systems where every small rock or hole on the surface is an obstacle to motion hoppers are designed to