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Model-based development of a compliant locomotion system for a small scout rover

Stubbig, Leon and Lichtenheldt, Roy and Becker, Felix and Zimmermann, Klaus (2017) Model-based development of a compliant locomotion system for a small scout rover. In: Ilmenau Scientific Colloquium 59 (www.db-thueringen.de), 59. ilmedia. 59th Ilmenau Scientific Colloquium, 11–15 September 2017, Ilmenau, Deutschland.

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Official URL: http://www.db-thueringen.de

Abstract

All currently active planetary exploration robots employ wheels for locomotion. In this work an alternative robotic locomotion concept is examined: the rimless wheel, also known as whegs. It has been proven to be successful in traversing rough terrain on earth and inhibits an appealing simplicity in its mechanics and controls. These aspects along with its inherent redundancy make the rimless wheel particularly suited for planetary exploration. The rimless wheel’s kinematics and compliant spokes are analytically examined using mechanical models. The dynamics of these models are explored in a computational multi-body simulation which confirms the conclusions drawn from the analytical models about running, climbing and movement on rough terrain. A parameter variation then yields a set of suitable parameters for a future scout rover. The application in sand is considered separately both analytically and computationally. Based on these results a single wheel is build and tested on the conclusions drawn from modelling and simulation. These experiments provide strong support that the two-sided goal of efficient movement on hard and flat surfaces as well as reliable negotiation of rough terrain can be achieved with the developed locomotion system.

Item URL in elib:https://elib.dlr.de/114032/
Document Type:Conference or Workshop Item (Speech)
Title:Model-based development of a compliant locomotion system for a small scout rover
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Stubbig, LeonDLR-SRUNSPECIFIED
Lichtenheldt, Roydlr-srhttps://orcid.org/0000-0002-2539-4910
Becker, Felixtechnische universität ilmenauUNSPECIFIED
Zimmermann, Klaustu ilmenau, klaus.zimmermann (at) tu-ilmenau.deUNSPECIFIED
Date:September 2017
Journal or Publication Title:Ilmenau Scientific Colloquium 59 (www.db-thueringen.de)
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
Volume:59
Publisher:ilmedia
Series Name:Ilmenau Scientific Colloquium
Status:Published
Keywords:Robotic locomotion, planetary exploration, small rovers, rimless wheels, whegs, compliant mechanisms, multi-body simulations
Event Title:59th Ilmenau Scientific Colloquium
Event Location:Ilmenau, Deutschland
Event Type:international Conference
Event Dates:11–15 September 2017
Organizer:Technische Universität Ilmenau
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - Project Morex
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of System Dynamics and Control > Space System Dynamics
Deposited By: Lichtenheldt, Roy
Deposited On:25 Sep 2017 16:58
Last Modified:15 Jul 2019 10:09

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