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    Performance Analysis and Technical Feasibility Assessment of a Transforming Roving Rolling Explorer Rover for Mars Exploration

    Source: Journal of Mechanical Design:;2014:;volume( 136 ):;issue: 007::page 71010
    Author:
    Edwin, Lionel E.
    ,
    Denhart, Jason D.
    ,
    Gemmer, Thomas R.
    ,
    Ferguson, Scott M.
    ,
    Mazzoleni, Andre P.
    DOI: 10.1115/1.4027336
    Publisher: 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 rollingâ€‌ 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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      Performance Analysis and Technical Feasibility Assessment of a Transforming Roving Rolling Explorer Rover for Mars Exploration

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    http://yetl.yabesh.ir/yetl1/handle/yetl/155675
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    • Journal of Mechanical Design

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    contributor authorEdwin, Lionel E.
    contributor authorDenhart, Jason D.
    contributor authorGemmer, Thomas R.
    contributor authorFerguson, Scott M.
    contributor authorMazzoleni, Andre P.
    date accessioned2017-05-09T01:10:39Z
    date available2017-05-09T01:10:39Z
    date issued2014
    identifier issn1050-0472
    identifier othermd_136_07_071010.pdf
    identifier urihttp://yetl.yabesh.ir/yetl/handle/yetl/155675
    description abstractThis 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 rollingâ€‌ 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.
    publisherThe American Society of Mechanical Engineers (ASME)
    titlePerformance Analysis and Technical Feasibility Assessment of a Transforming Roving Rolling Explorer Rover for Mars Exploration
    typeJournal Paper
    journal volume136
    journal issue7
    journal titleJournal of Mechanical Design
    identifier doi10.1115/1.4027336
    journal fristpage71010
    journal lastpage71010
    identifier eissn1528-9001
    treeJournal of Mechanical Design:;2014:;volume( 136 ):;issue: 007
    contenttypeFulltext
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