Highlights The proposed mechanism of the rover traveling system with a passive steering system. A prototype of the proposed traveling mechanism was fabricated. The arc path motion was experimentally evaluated and a correction formula was obtained. The path deviation of the proposed mechanism when overcoming a step was evaluated by experiment on a prototype.

    Abstract Planetary surface exploration rovers are required to have the ability to travel over uneven ground such as sandy or rocky terrain. In addition, to maintain long-term functionality under severe mass constraints, the rover must be highly reliable with a simple configuration. The reduction in the number of actuators will also contribute to a reduction in the number of electrical components involved and improve reliability. This paper proposes a lightweight and simple traveling and steering mechanism that combines a path-following system based on the difference in rotational speed of the left and right wheels when traveling in a curve and a passive Ackermann mechanism without an actuator, assuming a small exploration rover of a size and mass that can be mounted on a Japanese launch vehicle. We also propose a correction method to improve the path-following performance. We also developed a prototype wheeled rover of the target size and weight, and tested and evaluated the effectiveness of the proposed method in following the target path and overcoming obstacle on simulated soil.


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    Titel :

    Study of passive steering mechanism for small Mars surface exploration rovers


    Beteiligte:

    Erschienen in:

    Erscheinungsdatum :

    2023-12-04


    Format / Umfang :

    9 pages




    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




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