Performance Analysis and Technical Feasibility Assessment of a Transforming Roving Rolling Explorer Rover for Mars ExplorationSource: Journal of Mechanical Design:;2014:;volume( 136 ):;issue: 007::page 71010Author:Edwin, Lionel E.
,
Denhart, Jason D.
,
Gemmer, Thomas R.
,
Ferguson, Scott M.
,
Mazzoleni, Andre P.
DOI: 10.1115/1.4027336Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This paper explores a two state rover concept called the Transforming RovingRolling Explorer (TRREx). The first state allows the rover to travel like a conventional 6wheeled rover. The second state is a sphere to permit faster descent of steep inclines. Performance of this concept is compared to a traditional rockerbogie (RB) architecture using hifidelity simulations in Webots. Results show that for missions involving very rugged terrain, or a considerable amount of downhill travel, the TRREx outperforms the rockerbogie. Locomotion of the TRREx system using a continuous shifting of the center of mass through “actuated rolling†is also explored. A dynamics model for a cylindrical representation of the rover is simulated to identify feasible configurations capable of generating and maintaining continuous rolling motion even on sandy terrain. Results show that in sufficiently benign terrain gradual inclines can be traversed with actuated rolling. This model allows for increased exploration of the problem's design space and assists in establishing parameters for an Earth prototype.
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contributor author | Edwin, Lionel E. | |
contributor author | Denhart, Jason D. | |
contributor author | Gemmer, Thomas R. | |
contributor author | Ferguson, Scott M. | |
contributor author | Mazzoleni, Andre P. | |
date accessioned | 2017-05-09T01:10:39Z | |
date available | 2017-05-09T01:10:39Z | |
date issued | 2014 | |
identifier issn | 1050-0472 | |
identifier other | md_136_07_071010.pdf | |
identifier uri | http://yetl.yabesh.ir/yetl/handle/yetl/155675 | |
description abstract | This paper explores a two state rover concept called the Transforming RovingRolling Explorer (TRREx). The first state allows the rover to travel like a conventional 6wheeled rover. The second state is a sphere to permit faster descent of steep inclines. Performance of this concept is compared to a traditional rockerbogie (RB) architecture using hifidelity simulations in Webots. Results show that for missions involving very rugged terrain, or a considerable amount of downhill travel, the TRREx outperforms the rockerbogie. Locomotion of the TRREx system using a continuous shifting of the center of mass through “actuated rolling†is also explored. A dynamics model for a cylindrical representation of the rover is simulated to identify feasible configurations capable of generating and maintaining continuous rolling motion even on sandy terrain. Results show that in sufficiently benign terrain gradual inclines can be traversed with actuated rolling. This model allows for increased exploration of the problem's design space and assists in establishing parameters for an Earth prototype. | |
publisher | The American Society of Mechanical Engineers (ASME) | |
title | Performance Analysis and Technical Feasibility Assessment of a Transforming Roving Rolling Explorer Rover for Mars Exploration | |
type | Journal Paper | |
journal volume | 136 | |
journal issue | 7 | |
journal title | Journal of Mechanical Design | |
identifier doi | 10.1115/1.4027336 | |
journal fristpage | 71010 | |
journal lastpage | 71010 | |
identifier eissn | 1528-9001 | |
tree | Journal of Mechanical Design:;2014:;volume( 136 ):;issue: 007 | |
contenttype | Fulltext |