Stanley Wang

“ReachBot Lite: A Miniature Robotic Platform with Exceptional Reach for Lunar Application”

Advised by Prof. Stanley Wang

Abstract: The era of commercially supported lunar activities is dawning and new robotic systems will be needed to support exploration and construction. To expand the capability of existing platforms, we propose a very light and compact robot equipped with 4 extendable booms and 4 cables. The booms (~10m long) with pan/tilt control allow precise positioning of cable-tethered grippers on rock and regolith, enabling forceful manipulation with an extended reach.

We draw upon prior work on the ReachBot platform, introducing a new, much lighter, and more compact variant of ReachBot that can be carried and deployed from a lunar rover or lander to achieve tasks not currently possible. In comparison to other rovers and other proposed solutions, RBLite can erect structures such as a tower for a mast, pulling them upright for construction. It can also climb and reach the tops of erected structures for inspection and maintenance. RBLite can also explore previously inaccessible geological features such as overhanging cliffs by belaying into a crater to plant sensors. For exploration into lunar pits such as the Mare Tranquillitatis Pit (MTP), simply lowering instrumentation or robots on a tether does not work due to the inward-sloping rim. RBLite allows stable climbing by extending its booms, grasping the rock surfaces, and pulling the robot body toward the wall to deposit sensor packages and/or drill into the stratigraphy.