Dynamic Characterization of a Pop-Up Folding Flat Explorer Robot (PUFFER) for Planetary Exploration

Abstract

NASA’s Jet Propulsion Laboratory is currently in the design phases of the new Pop-Up Flat Folding Explorer Robot (PUFFER) for planetary exploration. Inspired by origami, PUFFER is constructed of a printed circuit board (PCB) body which utilizes Nomex fabric as foldable joints. The structure can fold flat to stow for launch and to change shape according to the obstacles encountered. Of primary interest is how PUFFER will perform under impacts caused by drops into large pits on a planet’s surface. In order to simulate PUFFER’s dynamic performance, Finite Element Models (FEM) need to be constructed in an informed manner using the material properties and damping characteristics of the joints. This paper presents the first step in this process, the dynamic characterization of PUFFER via modal testing. The frequencies, associated mode shapes, and modal damping extracted by modal analysis will be correlated with the FEM to ensure that the dynamic behavior of the structure is properly captured.