# Presentation: 927068

## Mobile Work Systems:Pairing Arms and Rovers

- Dr. Robert Ambrose
- March 2000

## Hermies III

- OakRidge NL
- Base
- 2000 lb
- 3rd generation
- Traded Control
- Arm
- 7 DOF Arm
- Cable drive
- Force Feedback Joystick

## ARMMS

- Sandia NL
- Heritage in
- 	SNL Retriever
- Base
- 6000lb Hummer
- 2500lb Cab
- Arms
- 2 Schillings

## CMU Pioneer

- CMU (Chornobyl)
- Base
- Houdini Derivative
- 1x1x1.2m
- Core Drill
- Dozer Blade
- High Rad Capacity
- Imaging
- Umbilical
- Arm
- 6 dof arm
- GE Derivative

## CMU Houdini

- CMU ( OakRidge)
- Designed for
- 	20” hole
- Base
- 750 lb
- 4Bar Structure
- Dozer Blade
- Imaging
- Umbilical
- Arm
- Schilling Arm

## Rosie

- CMU
- Base
- 6x14x8ft
- 14000 lb
- 2 ft/s
- Main Arm
- 4 DOF
- 20ft reach
- 1700lb payload
- DAWM
- 2 Schillings

## MR1

- Engineering
- 	Services, Inc
- Bomb Disposal
- Base
- 6 wheel
- 450lb rover
- 700lb payload
- .7x.5x1.25m
- Arm
- 100 lb
- 150 lb payload

## Andros

- Remotec, Inc
- Base
- Articulated
- Tracked
- Climbs stairs
- Changes height
- Arm
- 5 DOF
- 75 lbs
- 15 lb payload

## Hazbot

- JPL
- Hazardous Duty
- Operated by Firemen
- Base
- Remotec
- Arm
- JPL custom
- Sealed

## Polar Lander

- JPL-Lockheed
- Base
- Lander
- 640lbs (290Kg)
- 200 W Solar
- Arm
- 2m reach
- 4kg payload (Marsg)
- 4Kg mass
- Soil Scoop
- Elbow air temp sensor
- Arm Camera

## Planetary Dexterous Manipulator

- JPL
- Base
- FIDO Series
- Survivable Rover
- Sojourner Derivative
- Arm
- Digger/sampler
- 5 Axis arm
- Mast

## Marsokhod

- Ames/Russia/MDA
- Base
- 6 Wheel
- Articulated body
- 150 Kg
- 0.1 m/s
- 1.5x1x1.7m
- Arm
- Small, light
- Fell off

## Identified Design Issues

- Match mobility of base and arm
- Pair dexterity of arm and workspace of base
- 4 DOF arm and 3 DOF base has great utility
- Work space analysis
- Arm must reach ground plane & chassis work deck
- Overlap arm reachable workspace and vision range
- Design Objectives
- Minimize arm mass, keep CG low
- Maximize arm strength/weight ratio
- Maximize viewable region of arm’s workspace
- Maximize arm workspace intersection w/ work surfaces & planes

## Mobile Bases

- Commercial Vehicles	Mass	Payload	Battery
- (Model Number)	(Kg)	(Kg)	(W-Hr)

- AGV LVC		300	200	4800
- Panasonic C50S	100	100	880
- RWI ATRV		118	100	1440
- RWI ATRV-Jr	50	25	672
- Nomadics XR4000	150	100	1575
- Cybermotion NavMaster	254	227	2040
- Robosoft Robuter III	150	120	720
- Robosoft Robutrak	195	120	1560
- Remotec Wolverine	120	80	1500
- Remotec Andros V-A	180	120	1860
- Lancer-2000 Wheelchair	250	50	2880

## Portable Arms

- Commercial Arms	Mass	Reach	Payload	Mobility	Strength/Weight
- (Model numbers)	(Kg)	(m)	(Kg)	(D.O.F)	Ratio (in 1g)

- Metrica Arm	13	0.7	23	5	1.770
- Mitsubishi PA-10	35	1.0	10	7	0.286
- Fanuc LR Mate 100i	40	0.6	5	5	0.125
- RRC 807i		44	0.8	4	7	0.091
- IMI Zebra Zero	12	0.6	1	6	0.083
- Barrett WAM Arm	38	1.0	3	7	0.079
- Fanuc LR Mate 200I	48	0.6	3	6	0.063
- Scorbot ER IX	38	0.7	2	6	0.052
- GT Robotique GT6A	35	0.6	2	6	0.057

## Centaur Configuration

- Centaurs of Mythology
- Upper body of man
- Legs of horse
- Waist mobility
- Can face rearward
- Can bend and lower
- Upper Body
- Dual arms
- Dexterous hands
- Head for Perception

## Centaur Concept A

## Centaur Concept B

## Centaur Concept C

## Conclusion

- Mobile work systems are the next step beyond mapping and inspection rovers
- We need lightweight arms that are strong
- Creative placement of arms on a chassis enables:
- Field service for maintenance/construction/recovery
- Sample handling for digging/sorting/analysis/packaging
- Pickup and carry tasks
- Self repair and rescue