Author(s): Eli Francom
Mentor(s): Nathan Usevitch, Adam Rose
Institution BYU
The isoperimetric truss robot is a shape-changing robot consisting of robotic triangles connected at spherical joints. The past spherical joints allowed only two triangles to connect at each node. This research focuses on the development of a novel spherical mechanism that connects up to four independently moving triangles at a single virtual center. Each triangle is capable of yaw, pitch, and roll rotation about a virtual center, enabling three-dimensional maneuverability. The spherical joint was designed to be suitable for the lunar environment, as the isoperimetric robot could serve as an adaptable space structure: extreme temperatures, and resistance to the abrasive lunar dust. Designs achieving motion through compliance were explored to help with dust mitigation. Still, ultimately, due to its superior performance in live robot testing, the final design consists of aluminum panels connected by steel pins. This design was able to achieve the needed range of motion and was more suitable for the lunar environment than the compliant designs. The spherical joint mechanism design has the potential to be used in many applications replacing other spherical mechanisms such as the ball and socket joints, due to its large range of motion and ability to attach more components at a single virtual center.