A proposed robotic system for scientific exploration of rough terrain would include a stationary or infrequently moving larger base robot, to which would be tethered a smaller hopping robot of the type described in the immediately preceding article. The two-robot design would extend the reach of the base robot, making it possible to explore nearby locations that might otherwise be inaccessible or too hazardous for the base robot.

The system would include a launching mechanism and a motor-driven reel on the larger robot. The outer end of the tether would be attached to the smaller robot; the inner end of the tether would be attached to the reel.

The Smaller Tethered Hopping Robot would be thrown toward a target by a launching mechanism on the larger robot. Later, the hopping robot would be retrieved by reeling in the tether during a hop.
The figure depicts the launching and retrieval process. The launching mechanism would aim and throw the smaller robot toward a target location, and the tether would be paid out from the reel as the hopping robot flew toward the target. Upon completion of exploratory activity at the target location, the smaller robot would be made to hop and, in a coordinated motion, the tether would be wound onto the

reel to pull the smaller robot back to the larger one.

At the time of reporting the information for this article, the launching and retrieval processes had been studied by computational simulations for various launching angles, target distances, hopping heights and angles, and tether-reel-in rates. A prototype hopping robot and a reel had been built. Work on the launching mechanism and on control subsystems for the hopping robot and the reel remained to be done.

This work was done by Paulo Younse and Hrand Aghazarian of Caltech for NASA’s Jet Propulsion Laboratory. For more information, download the Technical Support Package (free white paper) at www.techbriefs.com/tsp under the Mechanics/Machinery category. NPO-45063

Topics:
Automation Computer simulation Mechanical Components Mechanics Robotics Simulation and modeling
This Brief includes a Technical Support Package (TSP).
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Launchable and Retrievable Tetherobot

(reference NPO-45063) is currently available for download from the TSP library.

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NASA Tech Briefs Magazine

This article first appeared in the June, 2010 issue of NASA Tech Briefs Magazine (Vol. 34 No. 6).

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Overview

The document outlines NASA's innovative Launchable and Retrievable Tetherobot system, detailed in Technical Support Package NPO-45063. This technology addresses the limitations of current land-based robotic exploration vehicles, which often require significant energy and time to navigate complex terrains. These vehicles may also face challenges in reaching dangerous or inaccessible locations.

The proposed solution involves a tethered robot that can be launched from a base vehicle to a designated area, where it can perform its mission. After completing its tasks, the robot can hop vertically to facilitate tether retrieval from above ground. This method allows the robot to traverse long distances quickly and with minimal energy expenditure, regardless of terrain roughness. The system is designed for reusability, as the robot can be retrieved and launched multiple times, making it particularly advantageous for exploration missions in challenging environments.

The document describes the development of a simulation in Matlab, which tested various launching and retrieval scenarios, including angles, distances, and hopping heights. A prototype of the hopping mechanism and the electric reel for tether retrieval was also created. A trade study was conducted to evaluate different components and methods involved in the system, ensuring optimal performance and efficiency.

The novelty of the Tetherobot lies in its unique capability to launch and retrieve a tethered robot through a hopping mechanism, which is a significant advancement over traditional robotic exploration methods. This technology has potential applications not only in space exploration but also in various terrestrial scenarios where access to difficult or hazardous locations is required.

The document emphasizes the broader implications of this technology, suggesting that it could have significant scientific, technological, and commercial applications beyond aerospace. It is part of NASA's Commercial Technology Program, aimed at disseminating aerospace-related developments for wider use.

For further inquiries or assistance regarding this technology, the document provides contact information for the Innovative Technology Assets Management at NASA's Jet Propulsion Laboratory. Overall, the Launchable and Retrievable Tetherobot represents a promising advancement in robotic exploration, enhancing the ability to conduct missions in challenging environments efficiently and safely.