Development of a sarrus linkage mechanism for space robotic deployable manipulators
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Date
2023-10-17
Authors
Τσιρώνης, Διονύσιος
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Abstract
The exploration and understanding of space are becoming increasingly important, especially in our time. Although our technology and knowledge have advanced, space remains a dangerous field for astronauts and crews undertaking missions in it. A large portion of space travel requires human efforts, but their long durations can be challenging for the human body. Therefore, the use of robotic systems is vital, whether working in collaboration with humans or working autonomously. Τwo major challenges are prevalent in space missions: the cost of missions and the limited space on the spacecraft.
The purpose of this thesis is to develop a deployable robotic link that is intended for such missions. Initially, bibliographic research and analysis is reviewed from my student thesis on robotic arms in space, deployable mechanisms, and deployable robots. Then, design concepts are proposed and the most suitable one is selected. The link is designed in detail from the module stage, static and kinematic analyses and simulation of its motion are performed and finally a prototype model is manufactured using 3d printing technology.
The mechanism uses a combination of springs, rope motors and electromagnets for its actuation and closing and provides a lightweight, small volume unit with a high magnification ratio that can be part of a robotic link, and by extension, a robotic arm.
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Keywords
Robots, Robots in space, Foldable mechanisms, Origami robots