为月球结构装配设计可伸展机械臂，解决远距离电缆布线难题
Long-Reach Robotic Manipulation for Assembly and Outfitting of Lunar Structures
- 用可展开复合材料臂实现1.8米长距操作
- 末端精度误差平均小于15毫米，振动影响可控
- 适合月球无人建造中需长距精细作业的场景
未来月球表面基础设施建设需要在建造现场部署半自主或全自主机器人。特别是电气安装任务要求在大型结构间运输、布设和精细操控电缆。为此，我们提出一种紧凑型长距离机械臂，集成可展开复合材料臂，可在大范围结构与工作空间内执行操作任务。我们分析了该可展开结构固有的挠度、振动及展开特性，并提出了相应的操控策略以减轻这些影响。实验表明，在臂长不超过1.8米时，末端定位平均误差小于15毫米。通过电缆布线任务验证了该方法在月球装备应用中的潜力。
原文摘要 · Abstract (English)
Future infrastructure construction on the lunar surface will require semi- or fully-autonomous operation from robots deployed at the build site. In particular, tasks such as electrical outfitting necessitate transport, routing, and fine manipulation of cables across large structures. To address this need, we present a compact and long-reach manipulator incorporating a deployable composite boom, capable of performing manipulation tasks across large structures and workspaces. We characterize the deflection, vibration, and blossoming characteristics inherent to the deployable structure, and present a manipulation control strategy to mitigate these effects. Experiments indicate an average endpoint accuracy error of less than 15 mm for boom lengths up to 1.8 m. We demonstrate the approach with a cable routing task to illustrate the potential for lunar outfitting applications that benefit from long reach.
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