Mechanical design of a planetary rover

Details Mechanical design of a planetary rover Mechanical design of a planetary rover

Jan 1993

adsabs.harvard.edu/cgi-bin/nph-data_query?bibcode=1993dpmv.book..345l&link_type=abstract

In CNES, Missions, Technologies, and Design of Planetary Mobile Vehicles p 345-359 (SEE N94-23373 06-91)

Computer Science

Robotics

Automatic Control, Locomotion, Mars (Planet), Robotics, Roving Vehicles, Mars Surface, Mechanical Engineering, Robots, Space Exploration

Scientific paper

The preliminary mechanical design studies of a planetary rover for the VAP (French acronym for automatic planetary rover) project with a light (100 kg) and a heavy (1000 kg) option are presented. The candidate locomotion concepts are compared and three main locomotion modes are selected: the rolling, walking and peristaltic modes. The peristaltic motion is obtained by sequential motion of parts of a vehicle. The rolling mode is chosen for simplicity and terrestrial experience, the existing planetary rovers based on the rolling mode are compared. An original four wheel drive vehicle with a peristaltic motion and a movable center of gravity is presented.

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