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

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.