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LOW COST TENSEGRITY BASED SPACE EXPLORATION VEHICLE
LOW COST TENSEGRITY BASED SPACE EXPLORATION VEHICLE
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机译：基于低成本高可靠性的空间探测车
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摘要
Space exploration is a field known for its use of high-end technologies to explore the universe. It provides a scope for the future generations to look for resources outside the world in case of a necessity. Exploration of various planets show that ample amount of life resources are available to be utilized. Such explorations make use of highly sophisticated rovers with intelligent sensors for data collection. However, the land surface in many planets are rugged and the wheel based locomotion becomes difficult.To avoid the hassles of wheel based locomotion, rovers can be made as tensegrity structures. The term Tensegrity was used to denote Tensional Integrity. In this paper, a six struts tensegrity structure is used as the rover. The structure is made up of six rods or struts kept in tension using 24 cables. The cables are actually operated with some dc motors. The 6 strut structure can balance on a triangular base on every step of its movement. By varying the length of the cables using the dc motors, the rover can be used for motion. The movement is controlled using an Arduino along with a RF controller wirelessly. The batteries and the sensors are attached to the struts. The major advantage of this vehicle is its ability to withstand harsh landings. The movement will not be affected even if 25% of the structure is damaged. This makes it a viable option to replace the conventional wheel based space exploration rovers that are in use.
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