Design of a Micro-Autonomous Robot for Use in Astronomical Instruments

Abstract

A Micro-Autonomous Positioning System (MAPS) has been developed using microautonomous robots for the deployment of small mirrors within multi-object astronomical instruments for use on the next generation ground-based telescopes.The micro-autonomous robot is a two-wheel differential drive robot with a footprint of approximately 20 20 mm.The robot uses two brushless DC Smoovy motors with 125:1 planetary gearheads for positioning the mirror.This article describes the various elements of the overall system and in more detail the various robot designs.Also described in this article is the build and test of the most promising design, proving that micro-autonomous robot technology can be used in precision controlled applications.