Soft Robotic Perspective and Concept for Planetary Small Body Exploration

摘要

Tens of thousands of planetary small bodies (asteroids, comets, and small moons) are flying beside our Earth with little understanding. Explorers on the surfaces of these bodies, unlike the Lunar or Mars rovers, have only few attempts and no sophisticated solution. Current concerns mainly focus on landing uncertainties and mobility limitations, which soft robots may suitably aid utilizing their compliance and adaptivity. In this study, we present a perspective of designating soft robots for the surface exploration. Based on the lessons from recent space missions and an astronomy survey, we summarize the surface features of typical small bodies and the associated challenges for possible soft robotic design. Different kinds of soft mobile robots are reviewed, whose morphology and locomotion are analyzed for the microgravity, rugged environment. We also propose an alternative to current asteroid hoppers, as a case of applying progress in soft material. Specifically, the structure is a deployable cube whose outer shell is made of shape memory polymer, so that it can achieve morphing and variable stiffness between liftoff and landing phases. Dynamic simulations of the free-fall landing are carried out with a rigid counterpart for comparison. The results show that the soft deployed shell can effectively contribute to dissipating the kinetic energy and attenuating the excessive rebounds.