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Material testing for robotic omnidirectional anchor

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dc.contributor.advisor Aaron J. Parness en_US
dc.contributor.advisor Matt Frost en_US
dc.contributor.advisor Brett Kennedy en_US
dc.contributor.author Witkoe, Kevin S.
dc.date.accessioned 2013-06-12T15:35:15Z
dc.date.available 2013-06-12T15:35:15Z
dc.date.issued 2012-08
dc.identifier.citation Summer Space Grant and Summer Internship Program (SIP), Pasadena, California, August 2012 en_US
dc.identifier.clearanceno 12-3988
dc.identifier.uri http://hdl.handle.net/2014/43237
dc.description.abstract To successfully explore near-Earth Asteroids the question of mobility emerges as the key issue for any robotic mission. When small bodies have extremely low escape velocities, traditional methods, such as wheels, would send the robot hurtling off of the asteroid’s surface. To solve this problem, JPL has developed an omni-directional anchoring mechanism for use in microgravity that utilizes microspine technology. These microspines are placed in circular arrays with 16 independent carriages biasing the surface of the rock. The asperities in the surface allow the gripper to hold nearly 150N in all directions. While the gripper has been proven successful on consolidated rocks, it had yet to be tested on a variety of other surfaces that are suspected to separate the large boulders on an asteroid. Since asteroid surfaces vary widely, from friable rocks to lose ponds of regolith, the gripper was tested in a large variety of materials such as, bonded pumice, sand, gravel, and loose rocks. The forces are applied tangent, at 45 degrees, and normal to the surface of the material. The immediate results from this experiment will give insight into the gripper’s effectiveness across the wide spectrum of materials found on asteroids. en_US
dc.description.sponsorship NASA/JPL en_US
dc.language.iso en_US en_US
dc.publisher Pasadena, CA : Jet Propulsion Laboratory, National Aeronautics and Space Administration, 2012. en_US
dc.subject Near-Earth Asteroids (NEOs) en_US
dc.subject robotic missions en_US
dc.subject robotic platforms en_US
dc.subject microspine en_US
dc.title Material testing for robotic omnidirectional anchor en_US
dc.type Student Report en_US
dc.subject.NASATaxonomy Mechanical Engineering en_US


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