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Planetary Rovers fitted with Omni-Directional / Mecanum Wheels

Ransom, Stephen and Krömer, Olaf and Lückemeier, Martin (2008) Planetary Rovers fitted with Omni-Directional / Mecanum Wheels. In: Proceedings ISTVS 16th International Conference, Torino, Italy 2008. International Society for Terrain-Vehicle Systems. 16th International Conference of the International Society for Terrain-Vehicle Systems, 25. - 28. Nov. 2008, Turin, Italy. ISBN 978 1 942112 15 0.

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The paper describes the principal results of a study into the use of omni-directional wheels, in particular Mecanum wheels, for application to extra-terrestrial rovers. Omni-directional wheels have been applied to vehicles operating over smooth, flat surfaces but no work appears to have been done in connection with the performance of such vehicles fitted with these wheels when traversing the extremely rough, and soft and hard surface terrains to be found on Mars, the Moon, or even on Earth. The object of the study was, therefore, the design and testing of an omni-directional wheel for “cross-country” use. A Mecanum wheel and a plain tread calibration wheel were built and evaluated using the Martian soil simulant testbed located at ESA’s facilities at ESTEC. The wheel tests showed that Mecanum wheels can be used to provide the rover with omni-directional manoeuvring capability on Mars soil simulant. In addition, a small rover equipped with Mecanum wheels was built to test the behaviour of a “real” vehicle with this type of wheel on very rough terrestrial terrain. These tests showed that such a rover can meet the demands of Mars and Moon exploration and high-lighted other manoeuvring capabilities that could not be evaluated with the ESTEC test-bed.

Item URL in elib:https://elib.dlr.de/106548/
Document Type:Conference or Workshop Item (Speech)
Title:Planetary Rovers fitted with Omni-Directional / Mecanum Wheels
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Date:25 November 2008
Journal or Publication Title:Proceedings ISTVS 16th International Conference, Torino, Italy 2008
Refereed publication:No
Open Access:No
Gold Open Access:No
In ISI Web of Science:No
EditorsEmailEditor's ORCID iDORCID Put Code
Publisher:International Society for Terrain-Vehicle Systems
ISBN:978 1 942112 15 0
Keywords:Planetary rovers, omni-directional wheels, Mecanum wheels, cross-country manoeuvrability
Event Title:16th International Conference of the International Society for Terrain-Vehicle Systems
Event Location:Turin, Italy
Event Type:international Conference
Event Dates:25. - 28. Nov. 2008
Organizer:International Society for Terrain-Vehicle Systems
HGF - Research field:other
HGF - Program:other
HGF - Program Themes:other
DLR - Research area:no assignment
DLR - Program:no assignment
DLR - Research theme (Project):no assignment
Location: Bremen
Institutes and Institutions:Institute of Space Systems > Explorationssysteme
Deposited By: Krömer, Olaf
Deposited On:12 Oct 2016 14:11
Last Modified:12 Oct 2016 14:11

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