A Preliminary Design for a Spherical Inflatable Microrover for Planetary Exploration

Paper number

IAC-05-D1.2.07

Author

Dr. Fredrik Bruhn, Angstrom Aerospace Corporation (AAC), Sweden

Coauthor

Dr. Henrik Kratz, Sweden

Coauthor

Dr. Johan Warell, Sweden

Coauthor

Prof. Claes-Ingvar Lagerkvist, Sweden

Coauthor

Mr. Viktor Kaznov, Sweden

Coauthor

Mr. Jack A. Jones, Jet Propulsion Laboratory, United States

Coauthor

Prof. Lars Stenmark, Angstrom Aerospace Corporation (AAC), Sweden

Year

2005

Abstract

The Angstrom Space Technology Centre (ASTC) has studied a revolutionary spherical rover concept, the so-called Spherical Mobile Investigators of Planetary Surfaces (SMIPS), with funding from the Swedish National Space Board (SNSB). This development has matured and has been commercialized to a commercial company, Rotundus AB, which is utilizing spherical robots mostly for security and surveillance purposes. 

The Spherical Mobile Investigator for Planetary Surface (SMIPS) concept is aiming to make use of the latest developments within extreme miniaturization of space systems. The introduction of Microelectromechanical Systems (MEMS) and higher level Multifunctional Micro Systems (MMS) design solutions gives the robot high performance per weight unit. The untraditional spherical shape make it easily maneuverable; thus, providing a capable platform for scientific investigations of interplanetary bodies.

Preliminary investigations of the SMIPS concept have shown several advantages over conventional robots and rovers in maneuverability, coverage, size, and mass.
A locomotion proof-of-concept has been studied together with a new distributed on-board data system configuration. This paper discusses theoretical robot analysis, the overall concept, possible science, enabling multifunctional microsystem technologies, and how to perform scientific investigations using a spherical robot. Planetary science in terms of geological and geochemical structures can be performed and the rover can hold 4-8 instruments. A multifunctional shell design including MEMS scientific sensors and CIGS thin-film solar cells is described.

An antenna concept for 1 Mbit/s data transmission using BPSK modulation at 3 GHz that enables rover-rover, rover-lander and rover-orbiter communication have been designed and simulated.

The SMIPS rover is unique in its remarkable features. The current prototypes are 44 cm in diameter and weigh 3.5 kg. The robot can traverse for 8 hours in 20-30 cm of sand on one battery charge. The robot can reach speeds of 15 km/h and in excess on harder surfaces. 

Abstract document

IAC-05-D1.2.07.pdf

Manuscript document

IAC-05-D1.2.07.pdf (🔒 authorized access only).

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