Application Prospects of Self-reconfiguration Robots to Explore Extraterrestrial Lava Tubes

doi:10.3981/j.issn.2097-0781.2024.01.006

Abstract

Abstract:

Lava tubes on the surface of planets such as the Moon and Mars are given priority for human scientific expedition bases and ecological maintenance areas. However, obstacles such as collapses inside lava tubes have brought great challenges to the unmanned exploration and construction of lava tubes. Modular self-reconfiguration robots are ideal for surmounting obstacles and manipulating objects in unpredictable unstructured environments due to their versatility and reusability. This paper briefly introduces the hardware development of modular self-reconfiguration robots, focusing on the software and hardware research on modular self-reconfiguration robots in three application scenarios: moving and obstacle surmounting inside lava tubes, sampling and operation, and auxiliary support. Finally, the paper puts forward development suggestions for the challenges faced by self-reconfiguration robots in the construction of extraterrestrial lava tube bases.

Key words: extraterrestrial lava tube, modular self-reconfiguration robot, obstacle surmounting and operation

摘要：

月球和火星等行星表面上的熔岩管被视为人类科学考察基地和生态维持区域的优先选址。然而，熔岩管内部存在的坍塌物等障碍为熔岩管的无人化探索和改造带来了极大的挑战。模块化自重构机器人以其多功能性和可复用性等优势，成为在不可预测的非结构化环境中越障和操作物体的理想选择。文章简要介绍了模块化自重构机器人概况，重点讲述了该类机器人在熔岩管内移动与越障、采样与操作、辅助支撑这3个场景中的软硬件研究和应用前景。最后针对自重构机器人建设地外熔岩管基地所面临的挑战提出发展建议。

关键词: 地外熔岩管, 模块化自重构机器人, 越障和操作

LAM Tin Lun, LUO Haobo, TU Yuxiao, LIANG Guanqi, ZHAO Da, DING Ning, SHI Xin, WANG Ke. Application Prospects of Self-reconfiguration Robots to Explore Extraterrestrial Lava Tubes[J]. Science and Technology Foresight, 2024, 3(1): 74-85.

林天麟, 罗浩波, 涂宇啸, 梁冠琪, 赵达, 丁宁, 石欣, 王科. 自重构机器人探索地外熔岩管的应用前景[J]. 前瞻科技, 2024, 3(1): 74-85.

Figures/Tables 9

Fig. 1 Application scenarios of modular self-reconfiguration robots in extraterrestrial lava tubes

Fig. 2 Different types of modular self-reconfiguration robots

Fig. 3 Performance of modular self-reconfiguration robot to overcome obstacles through flow

Fig. 4 Chain-type modular self-reconfiguration robots in quadruped, ring, and snake configurations

Fig. 5 Modular self-reconfiguration robot disassembled in the smooth area at the bottom of the lava tube to explore and forward communications

Fig. 6 Demonstration of the ability of modular self-reconfiguration robots to adaptively manipulate objects

Fig. 7 Modular self-reconfiguration robots are collectively driven to push large objects

Fig. 8 Research prospects of MSRR manipulating objects through large-scale self-reconfiguraton

Fig. 9 Modular self-reconfiguration robot self-assembles into supports such as tables, racks, and bridges

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