Design and Development of Modular Limbs for Reconfigurable Robots on the Moon
🤖 AI Summary
This study addresses the challenge of enabling robotic adaptability to diverse tasks and terrains under the resource-constrained conditions of lunar exploration. The authors propose Moonbots, a modular lunar robot system centered on a four-degree-of-freedom limb with high torque density, designed for flexible integration with wheeled modules. By employing a unified high-torque, low-gear-ratio actuator, standardized mechanical interfaces, and a common software control architecture, the system achieves multi-configuration reusability and simplified maintenance. The team successfully constructed and validated nine distinct functional configurations—including quadrupedal, wheeled, and serpentine forms—demonstrating exceptional locomotion adaptability, reconfiguration capability, and control performance across varying payloads. This approach significantly enhances operational flexibility and efficiency for lunar surface missions.
Application Category
📝 Abstract
In this paper, we present the development of 4-DOF robot limbs, which we call Moonbots, designed to connect in various configurations with each other and wheel modules, enabling adaptation to different environments and tasks. These modular components are intended primarily for robotic systems in space exploration and construction on the Moon in our Moonshot project. Such modular robots add flexibility and versatility for space missions where resources are constrained. Each module is driven by a common actuator characterized by a high torque-to-speed ratio, supporting both precise control and dynamic motion when required. This unified actuator design simplifies development and maintenance across the different module types. The paper describes the hardware implementation, the mechanical design of the modules, and the overall software architecture used to control and coordinate them. Additionally, we evaluate the control performance of the actuator under various load conditions to characterize its suitability for modular robot applications. To demonstrate the adaptability of the system, we introduce nine functional configurations assembled from the same set of modules: 4DOF-limb, 8DOF-limb, vehicle, dragon, minimal, quadruped, cargo, cargo-minimal, and bike. These configurations reflect different locomotion strategies and task-specific behaviors, offering a practical foundation for further research in reconfigurable robotic systems.
Problem
Research questions and friction points this paper is trying to address.
modular limbs
reconfigurable robots
Moon exploration
space robotics
adaptive locomotion
Innovation
Methods, ideas, or system contributions that make the work stand out.
modular robotics
reconfigurable robots
high torque-to-speed actuator
Moon exploration
multi-configuration locomotion
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