Cable deployment system for unmanned ground vehicle (UGV) mobile microgrids

Abstract

lbs) and do not supply precision in their deployment. There is no commercial off-the-shelf option available for small-scale cable deployment operations with size and weight constraints. To fulfill the application requirements and to combat this deficiency, a custom design and build of an "Adjustable Cable Management Mechanism" (ACMM) was required. This ACMM provides a low cost, compact platform for powered and controlled deployment and retraction of different-sized cable under moderate loads, utilizing Commercial Off-The-Shelf components (COTS). Employing this design has enabled a variety of tasks that require distribution of electrical or data cables to be accomplished for small-scale projects. The goal of this paper is to give detailed design specifications of the ACMM and instructions on how to recreate it and calibrate it to be useful for tethering robots in various applications such as steep terrain, internet connection through tight spaces, or electrical connection between nodes for complex microgrids.