An Enhanced Prototype of Rover for Space Exploration (original) (raw)
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In this paper we present experimental rtsults of autonomous walking experiments with the Ambler, a six-legged robot configured for autonomous traversal of Mars-like terrain. We describe the d t s in terns of terrain traversed, number of steps taken, distance travelled, Vial duration, and walking spced.
Design and Implementation of an Innovative Micro-Rover
Robotics 98, 1998
Mobile robots are of high interest for unmaned planetary exploration. The very successful Pathfinder mission to Mars has impressively demonstrated the potential of mobile platforms for planetary exploration [1]. The European Space Agency (ESA) also started to develop concepts for micro-rovers for Mars missions. Within an interdisciplinary group of companies specialized in space applications and research labs new designs of micro-rovers have been investigated. Two concepts, a simple and robust one and an innovative one, have been selected and functional breadboard models of them are currently built. After a discussion of the key issues for robust locomotion the present paper will focus on the design and control of the more innovative solution. It consists of 6 independently driven wheels arranged in two triangles. It therefore allows not only for efficient rolling on flat surfaces but also to step on obstacles. Additionally the center of mass and the instrumentation carrousel is adjustable, allowing to optimally balance the micro-rover in almost every situation. Even after flipping over the robot will always be able to get back on its wheels.
Development and Testing of the Mars Rover Mobility Platform for Educational and Research Purposes
IARJSET, 2015
Mars exploration has a long history, but there were only four roving vehicles which successfully operated on its surface (e.g. [1]). Main reasons for this are the mission cost and complexity. This paper describes a Mars Rover Mobility Platform for educational and research purposes developed at Kingston University of London. This platform utilises off-the-shelf components to minimise the cost of the project, and is designed to allow for future improvement. The rover is targeted to meet university research and educational objectives. This paper describes the design, manufacturing and control system of a robotic vehicle. The emphasis of this paper is the implementation of the control system. The investigation in locomotive subsystem and its traction performance was done [4]. The rover was manufactured in-house and its manufacturing method and its main components will be described. The control of the vehicle was done using python programming language and implemented on Raspberry Pi 2B+ controller. The communication was done via Wi-Fi using socket connection stream to identify the TCP/IP of the server and connect to the client. Finally, the testing operation was conducted by producing a qualitative comparison between the actual performance and the specified requirements. The rover design reported here achieved climbing capability for the slopes of 23 o , the turning radius of zero degrees. The final mass of the rover is 18 kg including allowance for the payload. The rover is able to reach a velocity of 5 cm/s.
A conceptual walking vehicle for planetary exploration
Mechatronics, 1997
A lightweight, small size walking robot currently being developed at the Université Libre de Bruxelles as a conceptual vehicle for planetary exploration is described. The robot consists of three articulated bodies connected by universal joints. Each body has two legs with two degrees of freedom each. Each universal joint is provided with two actuators and torque sensors; a compliant behaviour is achieved by force feedback. This particular device improves considerably the agility of the walking vehicle by allowing the central body to follow the ground profile. Furthermore, the vehicle can walk on both sides and can recover from roll-over thanks to the actuated universal joints which allow an autonomous transfer from back to belly.
Design and Development of an Intelligent Rover for Mars Exploration
2016
The paper describes various issues faced by rover in an alien environment and attempts to solve each of them using innovative design modifications. The rover features a bioinspired eight-wheeled drive mechanism, an integrated robotic arm and a stereo vision technique for advanced image processing. The system control, for both the rover as well the robotic arm, is done using microcontrollers and microprocessors such as Arduino, Intel NUC, and Raspberry Pi. Inspired from nature, a reflex mechanism has also been integrated into the rover design to minimize damage, by automated safety reflexes. The arm is so designed to switch between three different end effectors depending upon the task to be performed. The 8wheeled rover combines the rocker bogie mechanism and four rocker wheels and four spider-leg wheels. The spider-legs ensures that it can traverse over a considerable height greater than the chassis height which could be as much as thrice the diameter of the wheels ,whereas the curr...
Intelligent Deployable Mini Rover from the Mars Rover for Deep Narrow Scientific Investigation
International Journal of Scientific Research in Computer Science, Engineering and Information Technology, 2019
The paper describes various issues faced by mini rover deployed from main rover in an alien environment and the ways to solve them. The rover features a rocker bogie mechanism with differential drive, collision free distance sensing, wireless XBee control and camera Vision. The rover features a flexible segmented body with a multipurpose arm, corresponding multi wheel mechanism and Kinect module integration for advanced image processing. The system control, for both the Rover as well the robotic arm integrated with it, is done using feasible yet extremely efficient microcontrollers and microprocessors such as Arduino, Raspberry pi etc. Inspired from nature, a reflex mechanism has also been integrated into the rover design to minimize damage, by automated safety reflexes. The six wheeled rocker bogie mechanism ensures that it can traverse over a considerable height greater than the chassis height which could be as much as twice the diameter of the wheels. The rocker bogie mechanism provides traction due to its body weight. The rover finds applications in the exploration of other planets and harsh environments. Such an effort may even prove to be instrumental in detection and study of biological activity in worlds other than ours.
Design and Development of an Intelligent Rover for Mars Exploration (Updated)
2015
The paper describes various issues faced by rover in an alien environment and attempts to solve each of them using innovative design modifications. The rover features a bioinspired eight-wheeled drive mechanism, an integrated robotic arm and a stereo vision technique for advanced image processing. The system control, for both the rover as well the robotic arm, is done using microcontrollers and microprocessors such as Arduino, Intel NUC, and Raspberry Pi. Inspired from nature, a reflex mechanism has also been integrated into the rover design to minimize damage, by automated safety reflexes. The arm is so designed to switch between three different end effectors depending upon the task to be performed. The 8wheeled rover combines the rocker bogie mechanism and four rocker wheels and four spider-leg wheels. The spider-legs ensures that it can traverse over a considerable height greater than the chassis height which could be as much as thrice the diameter of the wheels ,whereas the current NASA`S curiosity rocker bogie system can only traverse over a height twice the diameter of the wheel. Additionally, as they are actuatorpowered, the slope of the rover can be adjusted in such a way that it does not topple for a wide range of inclination and allows the rover to traverse over highly rugged terrain. It provides a large amount of traction with the ground even in terrains where there is a negative slope or vertical drop of around 1m using a springdamper suspension mechanism whereas the rocker bogie mechanism provides traction only due to its body weight The Rover finds applications in the exploration of other planets, deep sea vents and other hostile environments. It offers a possibility of integrating numerous features such mineral collection and sampling, landscape mapping, moisture detection etc. Such an effort may even prove to be instrumental in detection and study of biological activity in worlds other than ours.
A study on Rocker-Bogie Suspension for a Planetary Rover Prototype
2020
In light of the notable rocker-bogie mechanism, this paper shows an ideal plan of a rocker-bogie suspension framework so as to ensure high mobile steadiness as well as excellent versatility of a prototype rover vehicle while traversing through rough terrains. It is essentially a suspension arrangement utilized in mechanical automated vehicles utilized explicitly for space investigation. The rocker-bogie suspensionbased rovers have been effectively presented for the Mars Pathfinder and Mars Exploration Rover (MER) and Mars Science Laboratory (MSL) missions led by zenith space investigation laboratories all through the world. The proposed suspension framework is presently the most supported structure for each space investigation organization. It is basically a mechanism which comprises of two arms with wheel mounted to each and the two arms are associated through a versatile joint. The current development in design has been studied as well as a different approach towards designing the...
Lightweight rovers for Mars science exploration and sample return
Intelligent Robots and Computer Vision XVI: Algorithms, Techniques, Active Vision, and Materials Handling, 1997
We report on the development of new mobile robots for Mars exploration missions. These "lightweight survivable rover (LSR)" systems are of potential interest to both space and terrestrial applications, and are distinguished from more conventional designs by their use of new composite materials, collapsible running gear, integrated thermal-structural chassis, and other mechanical features enabling improved mobility and environmental robustness at reduced mass, volume, and power. Our first demonstrated such rover architecture, LSR-I, introduces running gear based on 2D composite struts and 3D machined composite joints, a novel collapsible hybrid composite-aluminum wheel design, a unit-body structural-thermal chassis with improved internal temperature isolation and stabilization, and a spot-pushbroom laser/CCD sensor enabling accurate, fast hazard detection and terrain mapping. LSR-1 is a -. 7
Since the success of the Mars Pathfinder, a new chapter of space exploration began focusing on reducing the complexity of the rover and making it more autonomous, multifunctional, lightweight even at extreme adversities. A student based design for a competition allowed the researchers in this paper to explore a design that would meet those requirements. This paper presents the design of a six wheeled, triangular shaped chassis, having multi suspension based rover. This rover is integrated with a 2.4GHz communication system that not only allows the rover to be operated from a distance of 1km, but also allows the researchers to collect soil samples and test them on board the rover using a Microlab box. The rover also shows superior maneuverability by being able to turn 360° on the spot and able to scale obstacles of almost 1 feet. The performance of the design was also tested at a global competition – University Rover Challenge 2016 organized by The Mars Society held at Utah, USA, where this design came in 8th for the Phobos category. This competition only invited 30 rovers out of the 63 that applied from 12 different countries.