This paper presents the design, functionality, and evaluation of an end-effector operating at the end of a 6 degree-of-freedom manipulator of the existing planetary rover SherpaTT. The end-effector consists of an active electro-mechanical interface (EMI) which has an active mechanical docking interface, as well as power and data connectors, a camera primarily used for visual servoing, and LED lights. The ability of the end-effector to grapple different robotic systems and change their configuration is proved under laboratory and field conditions in the framework of a heterogeneous multi-robot system. The end-effector of SherpaTT is an improved version of the previous end-effector of the predecessor project RIMRES. This paper outlines the development process and improvements of the end-effector and describes its role within different terrestrial test scenarios in more detail. Learned lesson will help to develop the end-effector in the H2020 EU-funded project SIROM (Standard Interface for Robotic Manipulation of Payloads in Future Space Missions) which will be deployed at the manipulator of SherpaTT for experimental verification for future planetary missions.
Design and evaluation of an end-effector for a reconfigurable multi-robot system for future planetary missions
01.03.2018
3082431 byte
Aufsatz (Konferenz)
Elektronische Ressource
Englisch
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