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1、Chapter8PowerSystemsProvidingtherequiredpowerisanopenprobleminmobilerobotics,andinthecaseofspaceroboticsthingsarenobetter.Experimentalrobotsoftenreceivetheenergyrequiredformovingandperformingtheirtasksthroughanumbilicalcord,butthisisnotpossibleinthecas
2、eofoperationaldevices.Therearesomeexceptionsinthecaseoflowmobilityrovers,whosegoalistheexplorationofaverysmallareaaroundthelandingsitethatmayreceivetheirenergyfromthelander.Whilethisispossible,evenifnotveryadvisable,forshorttermoperations,tooperateinth
3、iswayforalongtimeposesreliabilityandmobilityproblemsthatcannotbesolved.Anotherpossibilityistopowerthemovingmachinethroughamicrowavebeam.Energymaybetransferredinthiswayfromafixedpowergenerationplanttoamovingmachine,butthedrawbacksaremany.Firstlythetechno
4、logyisnotyetfullyavailable.Moreover,energycanbetransmittedinthiswayonlyinastraightline,sothattherangeofthemovingmachinemaybeextremelyre-ducedinthecaseofsmallbodies,wherethehorizonisclose,andaboveallonroughterrain.Finally,theveryintensemicrowavebeammayp
5、osesevereprob-lemsofelectromagneticcompatibilitywithothercommunicationorelectronicde-vices.Perhapstheonlyapplicationmaybethatofworkingmachinesforbuildingroadsandcivilengineeringstructuresorforsurfacemining,particularlyonairlessworlds.Generallyspeaking,
6、thevehicleortherobotmusthaveonboarditsownenergysource.Whenchoosingthepowersourceforanyparticularapplicationtwoparametersareofparamountimportance:itsenergydensity(inJ/kg,orofteninWh/kg)anditspowerdensity(inW/kg).Powersourcesareusuallysaidtobepowerlimite
7、dorenergylimiteddependingonwhetherthemostseverelimitationcomesfromthepowerdensityortheenergydensity.TheenergydensityofsomeenergysourcesandaccumulatorsisreportedinFig.8.1,wheretheperformanceofnuclear(fission)andchemicalenergystoragearecomparedwiththoseof
8、someelectrochemicalaccumulators.G.Genta,IntroductiontotheMechanicsofSpaceRobots,SpaceTechnologyLibrary26,483DOI10.1007/978-94-007-1796-1_8,©SpringerScience+BusinessMediaB.V.20124848PowerSystemsFig.8.1(a)Energydensityofsomeenergysourcesa
