Robotic Manipulator Control for Precise Lunar Handling
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Solution Overview
Problem
Challenges exist in manipulating natural or man-made items with robotic arms in environments with limited human involvement, requiring precise motion control and handling extreme temperature fluctuations and debris ingress, such as on the lunar surface.
Innovation Solution
A robotic manipulator with configurable degrees of freedom, thermal management, and debris-resistant design, comprising a basal end, joint assemblies, and a distal end, with decentralized control and active thermal control, allowing for precise interaction with the environment.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If human involvement is used for manipulation operations, then fine-grained motion control and positional accuracy can be achieved, but human involvement is limited or impossible in certain environments
Solution Approach 1:
The patent replaces human mechanical manipulation with a robotic manipulator system that uses decentralized control architecture. The robotic arm with multiple degrees of freedom and distributed controllers replicates fine-grained motion control previously requiring human involvement, enabling operation in environments where humans cannot physically present.
Solution Approach 2:
The patent introduces a decentralized control system as an intermediary between the operator and the manipulator. This control architecture with distributed controllers at each joint assembly acts as a mediator that translates high-level commands into precise low-level actuation, achieving fine-grained control without direct human mechanical involvement.
2Ease of operation
If robotic manipulator is used for manipulation operations, then human involvement is eliminated, but achieving fine-grained motion control and positional accuracy becomes challenging
Solution Approach 1:
The patent divides the control system into multiple independent controllers distributed across different joint assemblies. Each controller manages specific degrees of freedom, allowing independent optimization of control algorithms for positional accuracy while maintaining autonomous operation. This segmentation enables precise control of each joint without requiring complex centralized control.
Solution Approach 2:
The patent implements a dynamic control architecture where controllers can adapt their behavior based on real-time conditions. The decentralized controllers can dynamically adjust control parameters, compensate for disturbances, and coordinate with other joints to achieve fine-grained motion control and maintain positional accuracy during autonomous operation.
3Adaptability or versatility
If robotic manipulator operates in challenging environments with temperature fluctuations and debris ingress, then operational capability is maintained, but reliability is compromised
Solution Approach 1:
The patent segments the robotic manipulator into modular joint assemblies, each with its own controller and protection mechanisms. This modular architecture allows individual joints to be sealed and protected independently, improving reliability in harsh environments while maintaining the ability to operate across various temperature ranges and resist debris ingress.
Solution Approach 2:
The patent incorporates protective measures in advance, such as sealed enclosures and filtration systems at each joint assembly, to prevent debris ingress before it can damage internal components. Thermal management systems are pre-configured to handle temperature fluctuations, ensuring reliability is maintained despite environmental challenges.
Data Source
AI summary
Aspects of the present disclosure relate to a ground-based vehicle with a single- or multi-degree-of-freedom robotic manipulator (“arm”), which may be attached to the a ground-based vehicle or to a stationary platform, among other examples. In examples, the purpose of the vehicle and arm assembly is to interact with a natural or man-made feature in some way; examples are include, but are not limited to, collecting a natural sample or specimen; unloading or repositioning the vehicle (e.g., from a lander, righting the vehicle after tipping, or raising/lowering the vehicle relative to terrain or man-made structures, etc.), collecting man-made items from the ground; grasping and actuating a man-made interface (such as a handle, cable, connector, hatch, door, etc.); servicing the vehicle; or assembling or constructing a structure from natural or man-made components (rocks, soil, beams, blocks, etc.), among other examples.