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.
Study of passive steering mechanism for small Mars surface exploration rovers
Journal of Terramechanics ; 112 ; 35-43
2023-12-04
9 pages
Aufsatz (Zeitschrift)
Elektronische Ressource
Englisch
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