Self-Reconfigurable Modular Robotic Manipulators for Space

点击翻译按钮获取中文摘要

This study aims at developing a new generation ofadaptable robotic manipulators that will be capable for changing its morphology through self-reconfiguration of its modulararm/s and hand/s. This involves developing a modular design for the link-joint pairs for the arm with an interchangeableand reconfigurable robotic compliant hand. Deep learning techniques will be used to train the robot manipulator toundertake routine tasks in a semi/autonomous manner. The feasibility of the design will be tested, in a simulationenvironment, for two use cases (i) for orbital assembly and maintenance of a large aperture space telescope (ii) roboticmining of asteroids where the manipulator could be used for capturing a small asteroid or for deeper excavation of otherplanetary bodies.