The European Space Agency has commissioned a number of development activities on micro-rovers for planetary surface missions, aiming primarily at geochemistry and exobiology science applications on Mars. This paper addresses the tracked 'Nanokhod' micro-rover concept. After having reviewed main design requirements, a brief summary of the micro-rover concept will be given. The Nanokhod is designed with emphasis on the optimal integration of its scientific payload. Its core is the central Payload Cab (PLC), suspended in the center rotation axis by two Payload Cab Levers. The levers provide 2 degrees of freedom to position the PLC. The scientific instruments are mounted in the PLC such that they look through one of the two ends. The box can be rotated by +/- 180 deg around its center axis in order to place first one end of the PLC and subsequently the other end in front of the same sample without changing the rover's position. This way it is possible to place the instruments in different heights at any angle between horizontal and vertical position against the sample (e.g. the surface of a rock). By looking downward, soil analysis can be performed. Locomotion is performed by tracks, made of thin stainless steel metal foils and attached metal cleats for improved traction. Furthermore, the Locomotion Units (LUs) contain the motors, gears, and the rover subsystems for power provision, telecommunication and control. The LUs are connected by a mechanical bridge (Tether Unit), housing two tether spools for wire-based power and telecommunication transmission between the rover and the lander.
Mechatronic aspects of the nanokhod micro-rover for planetary surface exploration
Mechatronische Aspekte des Mikromobil-Roboters Nanokhod für planetarische Oberflächen-Explorationen
2000
8 Seiten, 9 Bilder, 1 Tabelle, 5 Quellen
Conference paper
English