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MMX Rover Locomotion Subsystem - Development and Testing towards the Flight Model

Barthelmes, Stefan and Bahls, Thomas and Bayer, Ralph and Bertleff, Wieland and Bihler, Markus and Buse, Fabian and Chalon, Maxime and Hacker, Franz and Holderried, Roman and Langofer, Viktor and Lichtenheldt, Roy and Moser, Sascha Oliver and Sasaki, Kaname and Sedlmayr, Hans-Jürgen and Skibbe, Juliane and Stubbig, Leon and Vodermayer, Bernhard (2022) MMX Rover Locomotion Subsystem - Development and Testing towards the Flight Model. In: 2022 IEEE Aerospace Conference, AERO 2022. IEEE. IEEE Aerospace Conference, 5-12 Mar 2022, Big Sky, Montana, USA. doi: 10.1109/AERO53065.2022.9843723. ISBN 978-166543760-8. ISSN 1095-323X.

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Official URL: https://ieeexplore.ieee.org/document/9843723

Abstract

Wheeled rovers have been successfully used as mobile landers on Mars and Moon and more such missions are in the planning. For the Martian Moon eXploration (MMX) mission of the Japan Aerospace Exploration Agency (JAXA), such a wheeled rover will be used on the Marsian Moon Phobos. This is the first rover that will be used under such low gravity, called milli-g, which imposes many challenges to the design of the locomotion subsystem (LSS). The LSS is used for unfolding, standing up, driving, aligning and lowering the rover on Phobos. It is a entirely new developed highly-integrated mechatronic system that is specifically designed for Phobos. Since the Phase A concept of the LSS, which was presented two years ago [1], a lot of testing, optimization and design improvements have been done. Following the tight mission schedule, the LSS qualification and flight models (QM and FM) assembly has started in Summer 2021. In this work, the final FM design is presented together with selected test and optimization results that led to the final state. More specifically, advances in the mechanics, electronics, thermal, sensor, firmware and software design are presented. The LSS QM and FM will undergo a comprehensive qualification and acceptance testing campaign, respectively, in the first half of 2022 before the FM will be integrated into the rover

Item URL in elib:https://elib.dlr.de/186923/
Document Type:Conference or Workshop Item (Speech)
Title:MMX Rover Locomotion Subsystem - Development and Testing towards the Flight Model
Authors:
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Barthelmes, StefanUNSPECIFIEDhttps://orcid.org/0000-0001-9619-5639UNSPECIFIED
Bahls, ThomasUNSPECIFIEDhttps://orcid.org/0000-0002-9935-2676UNSPECIFIED
Bayer, RalphUNSPECIFIEDhttps://orcid.org/0000-0003-2561-7974UNSPECIFIED
Bertleff, WielandUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Bihler, MarkusUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Buse, FabianUNSPECIFIEDhttps://orcid.org/0000-0002-2279-5735UNSPECIFIED
Chalon, MaximeUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Hacker, FranzUNSPECIFIEDhttps://orcid.org/0000-0003-1913-8379UNSPECIFIED
Holderried, RomanUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Langofer, ViktorUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Lichtenheldt, RoyUNSPECIFIEDhttps://orcid.org/0000-0002-2539-4910UNSPECIFIED
Moser, Sascha OliverUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Sasaki, KanameUNSPECIFIEDhttps://orcid.org/0000-0003-0365-4539UNSPECIFIED
Sedlmayr, Hans-JürgenUNSPECIFIEDhttps://orcid.org/0000-0003-1180-3960UNSPECIFIED
Skibbe, JulianeUNSPECIFIEDhttps://orcid.org/0000-0003-3194-4330UNSPECIFIED
Stubbig, LeonUNSPECIFIEDhttps://orcid.org/0000-0002-4313-7125UNSPECIFIED
Vodermayer, BernhardUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Date:March 2022
Journal or Publication Title:2022 IEEE Aerospace Conference, AERO 2022
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In SCOPUS:Yes
In ISI Web of Science:Yes
DOI:10.1109/AERO53065.2022.9843723
Publisher:IEEE
ISSN:1095-323X
ISBN:978-166543760-8
Status:Published
Keywords:Space Exploration; Robotics; Locomotion; Chassis; Mechatronics; Rover
Event Title:IEEE Aerospace Conference
Event Location:Big Sky, Montana, USA
Event Type:international Conference
Event Dates:5-12 Mar 2022
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Robotics
DLR - Research area:Raumfahrt
DLR - Program:R RO - Robotics
DLR - Research theme (Project):R - Project MMX [RO]
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of System Dynamics and Control > Space System Dynamics
Institute of Robotics and Mechatronics (since 2013) > Mechatronic Systems
Institute of Space Systems > Mechanic and Thermal Systems
Deposited By: Barthelmes, Stefan
Deposited On:11 Jul 2022 16:24
Last Modified:27 Oct 2023 15:29

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