Title :
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
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;
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
DOI :
10.1109/RAST.2009.5158185
