Development of a deployable origami type robotic arm with 3-D.o.F for space applications and testing of a prototype

• Κύριος συγγραφέας: Γεωργούσης, Κωνσταντίνος
• Άλλοι συγγραφείς: Georgoussis, Konstantinos
• Γλώσσα: English
• Έκδοση: 2022
• Θέματα: Deployable mechanisms; Robotic arms in space; Robots in space; Αναδιπλούμενοι μηχανισμοί; Ρομποτικοί βραχίονες στο διάστημα; Ρομπότ στο διάστημα

The exploration and understanding of space are perhaps more important than ever. Despite all of the progress in technology and our knowledge of space it still hides dangers for astronauts and crews, who make trips into space. Also, often the duration of the trips makes them prohibited for humans. For these reasons it is very important to promote the use of robotic systems which will be able to cooperate with humans or work autonomously. One of the big problems when it comes to space missions is the high cost of the mission all around. Another issue is the limited and very precious space that the rocket has. This diploma thesis focuses on the development of a deployable origami type robotic arm with 3 degrees of freedom for space applications. Firstly, there is bibliographic research of some existing robotic arms in space, deployable mechanisms and deployable robots. Then some concept design ideas are given, regarding the mechanism that that makes the arm deployable. Out of those ideas one is selected based on its practicality and overall feasibility. This concept design then goes through a process of improvement in order for it to work more efficient. After this process, a 3d representation is made of both the mechanism and the entire arm. Lastly, the robotic arm is kinematically and statically analyzed and a prototype of the mechanism is constructed via 3d printing.