Bio-inspired mechatronic articulations for space use
- Paper number
IAC-06-A2.5.04
- Author
Prof. Carlo Menon, Simon Fraser University, Canada
- Coauthor
Prof. Richard van der Linde, Technical University of Delft (TUDelft), The Netherlands
- Year
2006
- Abstract
The space community has a growing interest in developing high performing joints for spacecraft, rovers and space mechanisms. In the space field, high performance entails high reliability, efficiency, compactness and lightness. Joints are failure points for deployable systems and moving devices. Their reliability is therefore of great concern for space applications. Efficiency is also critical as power budgets are limited in space and energy dissipation must therefore be avoided. Weight and dimensions must be reduced as much as possible since they have a direct impact on launch costs and thus on space mission budgets. This paper presents a new concept of robotic joint for future flight operations while adopting a biomimetic approach to the subject. The work includes the identification of classes of joints in nature which could inspire the design of a feasible system in which the mechanical subsystem and the actuation subsystems are merged. The number of species of insects is truly awesome, for example there are over 600,000 scientifically described species of beetles. Yet more staggering is the fact that there are probably at least twice that number remaining to be discovered and described. And beetles are only one type of insect. To put that number in perspective, there are probably around 10,000 species of birds, and perhaps 4,000 species of mammals. The total number of insect species is almost beyond imagining. Clearly, there are interesting mechanisms to be discovered in this huge pool of clever designs. The first part of the paper discusses the main kinematic layouts of natural joints while highlighting the potential designs of bio-inspired, engineered solutions for space applications and considering the peculiarities of space environment as a driving factor. Natural multiple degree-of-freedom joints are also analysed, and the effectiveness of elastic joints with embedded actuators is discussed to identify potential designs for space mechanisms. As result of a trade-off performed on the several natural joints analysed, the paper then presents a potentially promising active joint. The design is shown and a technological realisation is proposed. The behaviour of the joint is discussed and the characterisation of its subsystems is presented. Space applications and possible scenarios are considered while emphasising the joint's potential capabilities and performance in space.
- Abstract document
- Manuscript document
IAC-06-A2.5.04.pdf (🔒 authorized access only).
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