Design and evaluation of an end-effector for a reconfigurable multi-robot system for future planetary missions
Wiebke Brinkmann, Thomas M. Roehr, Sankaranarayanan Natarajan, Florian Cordes, Roland Sonsalla, Roman Szczuka, Sebastian Bartsch, Frank Kirchner
In Proceedings of the 2018 IEEE Aerospace Conference, 03.3.-10.3.2018, Big Sky, Montana, IEEE, pages 1-10, Mar/2018.
This paper presents the design, functionality and evaluation
of an end-effector, operating at the end of a 6 degree-offreedom
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 primary 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 the 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.