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Title: Asteriod Exploratory Robot (AER)
Authors: Boohene, Albert Nana Kwasi
Newill-Smith, David
Trieu, Timothy
Advisors: Stengel, Robert
Contributors: Kasdin, N. Jeremy
Department: Mechanical and Aerospace Engineering
Class Year: 2014
Abstract: The purpose of the Asteroid Exploratory Robot (AER) project is to develop a tripedal robot capable of traversing varied terrain in microgravity conditions through a stable, but moveable, anchoring mechanism. Microspine technology, researched at the Jet Propulsion Laboratory, has been adapted from an omni-directional single-digit microspine gripper to a multi-phalanx one more akin to the grips of animals adept at climbing. The new grippers have been successfully installed on the AER and used to traverse an asteroid-like surface in simulated microgravity conditions. This report details the mechanical design of the gripper and robot, control system of the AER, and design of a microgravity testing apparatus used to demonstrate the AERs ability to operate on the surface of an asteroid.
Extent: 60 pages
Type of Material: Princeton University Senior Theses
Language: en_US
Appears in Collections:Mechanical and Aerospace Engineering, 1924-2016

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