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5th REVIEW MEETING

Luka Peternel

Cognitive Robotics, 3mE, Delft University of Technology, The Netherlands

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ESA Rhizome project

Revision date: 22.2.2022

L.Peternel@tudelft.nl

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HUMAN-ROBOT COLLABORATION EXPERIMENTS

L.Peternel@tudelft.nl

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NEW EXPERIMENT (LARGE OBJECT CARRYING)

L.Peternel@tudelft.nl

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TOWARDS MOBILITY OF COLLABORATIVE ROBOT

L.Peternel@tudelft.nl

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FEASIBILITY STUDY FOR MOBILE PLATFORM

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  • So far, we have done experiments on a fixed-base collaborative robotic arm.

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  • The constriction site has a large workspace and consequently requires a large range of the collaborative robots.

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  • It is important that collaborative robots have the sufficient mobility.

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  • What are the best options for mobile platforms to carry the collaborative robotic arm?

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L.Peternel@tudelft.nl

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WHAT KIND OF MOBILE PLATFORM

  • Collaborative robotic arm (study case: KUKA LBR iiwa 7 & 14)
    • Arm mass type 7: 22.3 kg (payload of 7 kg)
    • Arm mass type 14: 29.5 kg (payload of 14 kg)
    • Controller cabinet mass: 23 kg

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  • Legged mobile platforms (e.g., humanoid robots, quadrupeds) are complex, less energy efficient and have limited payload.
  • The existing commercially available wheeled mobile platforms provide a good starting point; however, they are designed to operate in factory environments (e.g., no rough terrain, no slopes, etc.).

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  • We would prefer a custom-designed mobile platform to be robust enough to operate in rough environment:
    • Wheeled with “passive” metal legs for fixation
    • Number of wheels, design and configuration to be determined
    • Desired payload (in addition to carry itself): 50 kg

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KUKA mobile platforms (Kim et al, 2019)

Robotnik mobile platforms (Kim et al, 2020)

L.Peternel@tudelft.nl

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BATTERY VS CABLE

  • Battery-powered robotic platform advantages:
    • No obstructions by the cable
    • No workspace limitations
  • Battery-powered robotic platform disadvantages:
    • Shorter work time and recharge time (could use spare batteries→ extra mass for the mission and replacing time)
    • Extra load to be carried by the rover

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  • Cable-powered robotic platform is advantages:
    • Unlimited work time
    • Less load to be carried by the rover
  • Cable-powered robotic platform is disadvantages :
    • Inconveniences with the cable (entanglements, cable damage, etc.)
    • Workspace limited by the length of the cable

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L.Peternel@tudelft.nl

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5th REVIEW MEETING

Luka Peternel

Cognitive Robotics, 3mE, Delft University of Technology, The Netherlands

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ESA Rhizome project

L.Peternel@tudelft.nl