A Stewart Platform Lunar Rover
A lunar version of the Robocrane is being developed at the Robot Systems Division of the National Institute of Standards and Technology (NIST) to address the needs of NASA researchers....
Drivetrain Design, Incorporating Redundancy, for an Autonomous Walking Robot
An often overlooked, though critical, component of a mobile robot is the drivetrain. To achieve the ambitious programmatic goals of an extra-terrestrial, planetary robotic explorer, a...
An Intelligent Robotic Vehicle for Lunar/Martian Applications
This paper describes the research effort being undertaken at UA/NASA Space Engineering Research Center (SERC) towards a general-purpose intelligent robotic vehicle system (IRVS) for Lunar...
Recent Developments in the Robotic All Terrain Lunar Exploration Rover (RATLER) Program
The Robotic All-Terrain Lunar Exploration Rover (RATLER) is a four wheeled all-wheel-drive dual-body vehicle. A uniquely simple method of chassis articulation is employed which allows...
Enabler Chassis Features and Mobiltiy Analysis
The Enabler is a proposed Lunar Base work vehicle. The unique construction of the Enabler's six-wheeled chassis provides unusual articulation for steering, balancing, and overcoming obstacles....
Inertially Favorable Trajectories for Robot Motion in Space
Robot manipulators generally display non-linear coupled dynamic forces which increase with speed. Efficiencies can be achieved by finding trajectories which take advantage of those inertial...
The Kinematic Design of a Robotic Large Space Structure Construction Service
Researchers at the University of Maryland's Robotics Research Lab are applying a kinematic rapid proto-typing methodology to the development of a commercial robotics service for the construction...
The Optimal Selection of Robot Modules for Space Manipulators
Monolithic robot systems are poorly suited to the broad requirements and uncertainties of space automation applications. Designers have considered building many robots, each of which can...
A Novel Gravity Compensation System for Space Robots
Realistic experimental investigation of the behavior of space robots requires simulation on earth of the micro-gravity environment existing in space. This is particularly true due to the...
Effects of Force Reflection on Telerobotic Performance
The University of Kansas Augmented Telerobotics Laboratory conducted a study to examine the effects of force reflection on telerobotic system and operator performance in performing two...
Robotic Options for Mining of Near-Earth Objects
The mining and processing of a Near-Earth Object (NEO) should be as simple and as robust as possible - the fewer processes and parts the better. Reliability and survivability of the total...
On the Dynamics and Control of Flexible Orbiting Systems: An Approach with Application
A relatively general formulation for studying the dynamics and control of an arbitrary spacecraft, with interconnected flexible, deployable and articulating structural members, is reviewed...
Using a Small Satellite Bus As a Dedicated Platform for On-Orbit CSI Experiments
Control-Structure Integration (CSI) technology will be needed for the success of many future space missions, however, this technology will not be seriously considered for use by program...
Braced Double Skinned Structure in Lunar Application
A parametric study is designed to evaluate a proposed Braced Double Skinned roof structure utilizing extrapolated theoretical solutions i.e. Navier's solution and Levy's solution. A Finite...
Reliability of Structures for the Moon
The subject of risk and reliability for lunar structures is introduced and critical issues deliberated. A tensile structure is considered as an example in order to become more specific...
Design Techniques for Rectangular Lunar Modules
This paper discusses relevant issues concerning the design and performance of cubical lunar modules. Previously, these modules have shown to be a possible solution for living and working...
A Membrane Structure for a Lunar Assembly Building
This paper describes potential design options and construction approaches for the development of an inflatable membrane structure of non-circular cross section. This structure could be...
A New Airlock Approach for Human Exploration
Conceptual design work on the First Lunar Outpost (FLO) mission led to the development of an airlock concept called the `doorlock' which appears quite promising for all aspects of manned...
Development of a Partial Gravity Lunar Airlock
The Planetary Projects Office (PPO) at the Johnson Space Center is developing design reference missions for human exploration of the Moon and Mars. Missions for both planets require a...
A Near-Term, Long-Duration, Lunar Outpost Design
The design of a long-term human outpost on the Moon will require shielding from not only solar proton and galactic cosmic radiation but also from micro-meteoroid and meteoroid strikes....
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