干旱区生态环境知识资源中心(Arid): Basic Robotic Excavator (the Glenn Digger): Description, Design, and Initial Operation.

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报告编号	N160004045
	Basic Robotic Excavator (the Glenn Digger): Description, Design, and Initial Operation.
	Bauman, S; Newman, P; Izadnegahdar, A; Johnson, K; Abel, P.
英文摘要	This paper describes the design, commercial part selections, fabrication, assembly, installation, and initial operation of a two degree of freedom robotic excavator. Colloquially referred to as "the NASA Glenn Digger," it was designed specifically to be mounted onto, and to operate with, the then newly developed Centaur 2 robotic mobility base. The excavator, when mounted to Centaur 2, is designed to scoop loose regolith from the terrain, raise its loaded bucket up and dump the load into a hopper of at least a 1-m-height. The hopper represents the input to a machine that would process the raw material, such as to produce oxygen from lunar regolith as would be required for long-term lunar habitation. This equipment debuted at the annual Research and Technology Studies ("Desert RATS", Ref. 1) event held north of Flagstaff, Arizona, in September of 2010, when the Digger was successfully joined to Centaur 2 and the shoveling articulation was demonstrated. During 2011, the hardware was modified for added strength, strain gauges were added to measure loads, and the controls were improved in preparation for the 2011 Desert RATS event, where additional "field operations" experience was gained.
英文关键词	Robotics Lunar rocks Regolith Scoops Fabrication Terrain Installing
出版年	2016
语种	英语
国家	United States
来源学科分类	54 - Astronomy & Astrophysics ; 84B - Extraterrestrial Exploration ; 62 - Computers, Control & Information Theory
URL	http://r.cnki.net/KCMS/detail/detail.aspx?DbCode=KJBG&dbname=KJBGW&filename=5a02b11731c97d1c38a84066
来源机构	National Aeronautics and Space Administration
资源类型	科技报告
条目标识符	http://119.78.100.177/qdio/handle/2XILL650/274020
推荐引用方式 GB/T 7714	Bauman, S,Newman, P,Izadnegahdar, A,et al. Basic Robotic Excavator (the Glenn Digger): Description, Design, and Initial Operation.,2016.