ReachBot在莫哈韦沙漠熔岩管中的火星模拟野外测试
ReachBot Field Tests in a Mojave Desert Lava Tube as a Martian Analog
AI总结：
ReachBot是一种用于洞穴和熔岩管行星探索的机器人概念，通过可伸缩吊杆和夹持器抓取不规则岩石表面。本文介绍了部分原型在莫哈韦沙漠熔岩管中的野外测试，包括设计、技术要求、抓取性能及经验教训。
摘要：
ReachBot是一种用于行星探索洞穴和熔岩管的机器人概念，这些区域通常难以通过传统机器人移动方法到达。它使用可伸缩的吊杆作为附属装置，末端安装夹持器，以抓取不规则的岩石表面并穿越这些困难地形。我们构建了一个部分ReachBot原型，由单个吊杆和夹持器组成，安装在三脚架上。我们介绍了该部分ReachBot原型在莫哈韦沙漠熔岩管中的设计和野外测试细节。讨论了野外测试的技术要求、实现细节和抓取性能结果。还给出了野外测试的规划与准备以及经验教训。
英文摘要：
ReachBot is a robot concept for the planetary exploration of caves and lava tubes, which are often inaccessible with traditional robot locomotion methods. It uses extendable booms as appendages, with grippers mounted at the end, to grasp irregular rock surfaces and traverse these difficult terrains. We have built a partial ReachBot prototype consisting of a single boom and gripper, mounted on a tripod. We present the details on the design and field test of this partial ReachBot prototype in a lava tube in the Mojave Desert. The technical requirements of the field testing, implementation details, and grasp performance results are discussed. The planning and preparation of the field test and lessons learned are also given.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
