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In this paper we present a trade study-based method to optimize thearchitecture of ReachBot, a new robotic concept that uses deployable booms asprismatic joints for mobility in environments with adverse gravity conditionsand challenging terrain. Specifically, we introduce a design process wherein weanalyze the compatibility of ReachBot's design with its mission. We incorporateterrain parameters and mission requirements to produce a final design optimizedfor mission-specific objectives. ReachBot's design parameters include (1)number of booms, (2) positions and orientations of the booms on ReachBot'schassis, (3) boom maximum extension, (4) boom cross-sectional geometry, and (5)number of active/passive degrees-of-freedom at each joint. Using first-orderapproximations, we analyze the relationships between these parameters andvarious performance metrics including stability, manipulability, and mechanicalinterference. We apply our method to a mission where ReachBot navigates andgathers data from a martian lava tube. The resulting design is shown in Fig. 1.

Designing ReachBot: System Design Process with a Case Study of a Martian Lava Tube Mission