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1、Chapter8PowerSystemsProvidingtherequiredpowerisanopenprobleminmobilerobotics,andinthecaseofspaceroboticsthingsarenobetter.Experimentalrobotsoftenreceivetheenergyrequiredformovingandperformingtheirtasksthroughanumbilicalcord,butthisisnotpossibleinthecaseofoperati
2、onaldevices.Therearesomeexceptionsinthecaseoflowmobilityrovers,whosegoalistheexplorationofaverysmallareaaroundthelandingsitethatmayreceivetheirenergyfromthelander.Whilethisispossible,evenifnotveryadvisable,forshorttermoperations,tooperateinthiswayforalongtimepos
3、esreliabilityandmobilityproblemsthatcannotbesolved.Anotherpossibilityistopowerthemovingmachinethroughamicrowavebeam.Energymaybetransferredinthiswayfromafixedpowergenerationplanttoamovingmachine,butthedrawbacksaremany.Firstlythetechnologyisnotyetfullyavailable.Mor
4、eover,energycanbetransmittedinthiswayonlyinastraightline,sothattherangeofthemovingmachinemaybeextremelyre-ducedinthecaseofsmallbodies,wherethehorizonisclose,andaboveallonroughterrain.Finally,theveryintensemicrowavebeammayposesevereprob-lemsofelectromagneticcompa
5、tibilitywithothercommunicationorelectronicde-vices.Perhapstheonlyapplicationmaybethatofworkingmachinesforbuildingroadsandcivilengineeringstructuresorforsurfacemining,particularlyonairlessworlds.Generallyspeaking,thevehicleortherobotmusthaveonboarditsownenergysou
6、rce.Whenchoosingthepowersourceforanyparticularapplicationtwoparametersareofparamountimportance:itsenergydensity(inJ/kg,orofteninWh/kg)anditspowerdensity(inW/kg).Powersourcesareusuallysaidtobepowerlimitedorenergylimiteddependingonwhetherthemostseverelimitationcom
7、esfromthepowerdensityortheenergydensity.TheenergydensityofsomeenergysourcesandaccumulatorsisreportedinFig.8.1,wheretheperformanceofnuclear(fission)andchemicalenergystoragearecomparedwiththoseofsomeelectrochemicalaccumulators.G.Genta,IntroductiontotheMechanicsofSp
8、aceRobots,SpaceTechnologyLibrary26,483DOI10.1007/978-94-007-1796-1_8,©SpringerScience+BusinessMediaB.V.20124848PowerSystemsFig.8.1(a)Energydensityofsomeenergysourcesa
