ATHLETE Offloader Limb as a High-capacity Crane

A new concept for the NASA Jet Propulsion Laboratory (JPL) All-Terrain Hex-Limbed Extra-Terrestrial Explorer (ATHLETE) robotic constructor / mobility system employs tendon-driven actuation of individual limbs, similar to high-capacity cranes in terrestrial work environments. While maintaining mechanical joints that allow each limb to function as a highly dexterous multi-Degree-Of-Freedom (DOF) robotic arm, tendon-driven truss sections increase the capacity of moment loads for extended configurations of the limb. This paper describes the analysis, work cell, operations, actuation, control, and instrumentation of limbs designed to address specific target load cases that might be required for human exploration missions on planetary surfaces.