A Four-Wheel-Rhombus-Arranged Mobility System for a New Lunar Robotic Rover:

International Journal of Advanced Robotic Systems

GuilinWen¹ 

关键词: Lunar Robotic Rover;    Mobility;    Manoeuvrability;    Lightweight;    Rhombus-Arranged Wheels;   

DOI  :  10.5772/56917

学科分类：自动化工程

来源: InTech

【 摘 要 】

Different from traditional ground vehicles, planetary robotic rovers with limited weight and power need to travel in unfamiliar and extremely arduous environments. In this paper, a newly developed four-wheel-rhombus-arranged (FWRA) mobility system is presented as a lunar robotic rover with high mobility and a low-weight structure. The mobility system integrates independent active suspensions with a passive rotary link structure. The active suspension with swing arms improves the rover's capacity to escape from a trapped environment whereas the passive rotary link structure guarantees continuous contact between the four wheels and the terrain. The four-wheel-three-axis rhombus configuration of the mobility system gives a high degree of lightweight structure because it has a simple mechanism with the minimum number of wheels among wheeled rovers with three-axis off-road mobility. The performance evaluation of the lightweight nature of the structure, manoeuvrability and the mobility required in a planetary exploring environment are illustrated by theoretical analysis and partly shown by experiments on the developed rover prototype.

【 授权许可】

CC BY