Design and evaluation of an end-effector for a reconfigurable multi-robot system for future planetary missions

Abstract

This paper presents the design, functionality, and evaluation of an end-effector operating at the end of a 6 degree-of-freedom manipulator of the existing planetary rover SherpaTT. The end-effector consists of an active electro-mechanical interface (EMI) which has an active mechanical docking interface, as well as power and data connectors, a camera primarily used for visual servoing, and LED lights. The ability of the end-effector to grapple different robotic systems and change their configuration is proved under laboratory and field conditions in the framework of a heterogeneous multi-robot system. The end-effector of SherpaTT is an improved version of the previous end-effector of the predecessor project RIMRES. This paper outlines the development process and improvements of the end-effector and describes its role within different terrestrial test scenarios in more detail. Learned lesson will help to develop the end-effector in the H2020 EU-funded project SIROM (Standard Interface for Robotic Manipulation of Payloads in Future Space Missions) which will be deployed at the manipulator of SherpaTT for experimental verification for future planetary missions.