Stability of a new mars rover with multi-stage bogie mechanism

Author

Kilit, Özgür ; Yontar, Alper

Author_Institution

Mech. Eng. Dept., Ege Univ., Izmir, Turkey

fYear

2009

fDate

11-13 June 2009

Firstpage

145

Lastpage

149

Abstract

A rough terrain adaptive rover using a novel suspension system with extremely high mobility is described. By using a multi stage type of a well-known bogie system, a rover gains a high level of adaptability to rough terrain. A novel method to model the rover path which doesn´t require any surface modeling tool of rough terrain is represented. Two tilting angles - measured about both longitudinal and lateral axes of the rover body - are taken into consideration as stability criteria. Through the computer simulation, the kinematics model of the mobile robot moving on a randomly generated rough terrain is verified.

Keywords

Mars; aerospace control; mobile robots; robot kinematics; space vehicles; suspensions (mechanical components); Mars rover; kinematics model; mobile robot; multi-stage bogie mechanism; surface modeling tool; suspension system; Earth; Extraterrestrial measurements; Kinematics; Mars; Mobile robots; Planets; Roads; Stability criteria; Vehicle dynamics; Wheels; component; mobile robots; multi-stage bogie mechanism; path modelling; stability criteria;

fLanguage

English

Publisher

ieee

Conference_Titel

Recent Advances in Space Technologies, 2009. RAST '09. 4th International Conference on

Conference_Location

Istanbul

Print_ISBN

978-1-4244-3627-9

Electronic_ISBN

978-1-4244-3628-6

Type

conf

DOI

10.1109/RAST.2009.5158185

Filename

5158185