Design and prototyping of a telerobotic system for surveying an archaeological underground space

Abstract

The use of archaeological service robots enable researchers to explore, document, and analyse archaeological sites and artifacts more effectively. Despite this, the field of archaeology is behind in adopting robotic technology for its practices. The cause of this is a complex mix of issues including a lack of funding, a lack of societal support, and deep-rooted ethical concerns. Taking into consideration these issues, a study was conducted on existing and potential archaeology service robots, and the types of underground spaces in Malta that could offer potential archaeological interest, to further understand the challenge at hand. Since this was intended to be a custom service robot for the Department of Classics & Archaeology in University of Malta, a customer need assessment interview was conducted. Based on the research, and customer requirements, a conceptual design of the robot was realised, and developed into a detailed design using various engineering design concepts and methods. The robot was named “TRex”, short for Telescopic Reach Explorer, after its telescopic arm design. The final prototype design boasted a compact structure making it possible to fit into small apertures that are otherwise inaccessible, while insuring affordability, sustainability, power efficiency, and user-friendliness. Additionally, locally sourced parts were used to support quick maintenance and repair. The TRex prototype design was manufactured using techniques such as metalworking, welding, Computer Numerical Control (CNC) machining, and three-dimensional (3D) printing. Although structural issues regarding the supporting Base Plate of the robot arose and were later resolved, all tests of the TRex were highly successful, achieving clear imagery of the underground spaces, and fulfilling all requirements specified. This success alluded to a potential use of this robot configuration in other service applications.