A Wheeled Robot for Lunar Environment: Design, Modelling and Construction

Paper number

IAC-07-A5.2.09

Author

Prof. Giancarlo Genta, Politecnico di Torino, Italy

Coauthor

Dr. Nicola Amati, Politecnico di Torino, Italy

Coauthor

Mr. Angelo Bonfitto, Politecnico di Torino, Italy

Coauthor

Mr. Fabrizio Impinna, Politecnico di Torino, Italy

Coauthor

Mr. Stefano Carabelli, Politecnico di Torino, Italy

Coauthor

Mr. Miguel Kaouk, Politecnico di Torino, Italy

Year

2007

Abstract

The design and simulation of a ten wheels rover for lunar exploration and exploitation, and the construction of an engineering model are described. The present version of the machine is a telemanipulator with reduced capacity of autonomous operation, but will be used in the future as a test bed for research work aimed to increase its autonomy, in particular using vision devices.
The robot is provided with an arm able to manage objects having a mass almost equal to that of the machine to collect samples in exploration duties or to carry tools for digging and perform the tasks needed in the establishment and maintenance of an outpost.
Propulsion is obtained using two electric motors, connected through a CVT (Continuously Variable Transmission) to the wheels on the two sides, so that slip steering can be easily implemented. Apart from the two degrees of freedom linked with propulsion, the carrier has two further degrees of freedom, to move the first two wheels on each side in a vertical direction to adapt the vehicle to uneven ground.. 
The arm has a total of 5 degrees of freedom, including those of the end effector.
Apart from describing the development of the robot and showing the resulkta obtained on the engineering model, the paper deals with a number of issues, like identifying the critical technologies and discussing possible layouts to obtain the required mobility and suitable control strategies.

The material included in this paper is new and original
The paper was not presented to previous meeting and on of the authors will participate to the 58th IAC to present the paper.

Abstract document

IAC-07-A5.2.09.pdf

Manuscript document

IAC-07-A5.2.09.pdf (🔒 authorized access only).

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