WHEELED ROBOTIC PLATFORM FOR MARS EXPLORATION
DOI:
https://doi.org/10.31471/1993-9965-2024-2(57)-34-41Keywords:
shock absorber, hinge, rover, robot manipulator, duralumin, spacecraftAbstract
In the present and near future, the use of mobile wheeled systems (rovers) to explore the surface of Mars is a matter of considerable relevance. Extensive experience in designing such exploratory automobile platforms has already been gained from previous explorations of the Moon and Mars landscapes. The designs of well-known rovers are examined for their benefits and drawbacks. The main mechanical components of the rover — its body, suspension, wheels, and manipulator — are the center of attention. Duralumin is proposed for the manufacture of the main parts, which is one of the lightest structural materials that can withstand the cryogenic conditions of Mars. The insufficient strength of duralumin is compensated by the use of shock absorbers and more flexible suspension control using additional engines. The manipulator and suspension provide extended adaptive functionality, including that associated with autonomous repair and reliability redundancy. Independent suspension enables significant vertical travel of the wheels, which together with hybrid electromagnetic shock absorbers-motors and additional degrees of freedom of the suspension will make it easier to overcome complex obstacles, reduce shock and fatigue loads and provide additional functionality of the suspension. At the same time, the housing capacity's dimensions are adequate to hold power cells, research apparatus, spare parts, and components that increase the manipulator and suspension's usefulness. The morphological study demonstrates that some design alternatives can successfully provide redundancy of the chassis reliability while optimizing the rover units' adaptability.
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