Mechanical design of horizontal polyarticular expandable 3-wheeled planetary rover; "Tri-Star3"

Author

Tadakuma, Kenjiro ; Masatsugu, Matsumoto ; Hirose, Shigeo

Author_Institution

Dept. of Mech. & Aerosp. Engneering, Tokyo Inst. of Technol., Japan

Volume

1

fYear

2005

fDate

29 July-1 Aug. 2005

Firstpage

236

Abstract

In recent years, the exploration for other planets are really popular among many researchers (E. A. LeMaster, et al., April 2003), (S. B. Goldberg, 2002). It seems that Rover is the one of the best application to know the details of the surface of the planets. For example, Spirits and Opportunity; the rovers of NASA (B. V. Ratnakumar, July 2000), still keep exploring on Mars, and we can get a great number of information of Mars from those rovers. Therefore, such a kind of rover is very important and effective for planetary exploration. This paper proposes the concept of the horizontal polyarticular expandable 3-wheeled planetary rover, "Tri-StarIII" which based on the expandable rover. The development of the arm, wheel configuration are presented in detail.

Keywords

aerospace robotics; mobile robots; planetary rovers; space vehicles; Tri-Star3; expandable rover; horizontal polyarticular expandable 3-wheeled planetary rover; mechanical design; planetary exploration; Arm; Mars; NASA; Planets; Size control; Springs; Stability; Steel; Vehicles; Wheels;

fLanguage

English

Publisher

ieee

Conference_Titel

Mechatronics and Automation, 2005 IEEE International Conference

Print_ISBN

0-7803-9044-X

Type

conf

DOI

10.1109/ICMA.2005.1626553

Filename

1626553