elib
DLR-Header
DLR-Logo -> http://www.dlr.de
DLR Portal Home | Imprint | Privacy Policy | Contact | Deutsch
Fontsize: [-] Text [+]

Qualification of the MMX Rover Locomotion Subsystem for the Martian Moon Phobos

Barthelmes, Stefan and Bayer, Ralph and Bertleff, Wieland and Bihler, Markus and Buse, Fabian and Chalon, Maxime and Geyer, Günther and Hacker, Franz and Hofmann, Cynthia and Holderried, Roman and Kolb, Alexander and Krämer, Erich and Langofer, Viktor and Lichtenheldt, Roy and Moser, Sascha and Fonseca Prince, Andre and Sasaki, Kaname and Sedlmayr, Hans-Jürgen and Skibbe, Juliane and Vodermayer, Bernhard (2023) Qualification of the MMX Rover Locomotion Subsystem for the Martian Moon Phobos. In: 2023 IEEE Aerospace Conference, AERO 2023. IEEE. IEEE Aerospace Conference, 2022-03-05 - 2022-03-10, Big Sky, Montana, USA. doi: 10.1109/AERO55745.2023.10115865. ISBN 978-166549032-0. ISSN 1095-323X.

[img] PDF
26MB

Official URL: https://ieeexplore.ieee.org/document/10115865

Abstract

Planetary rovers have proven their function and value for the Earth moon as well as Mars in the past decades. While these celestial bodies have a gravity of the same order of magnitude as the Earth, wheeled locomotion has never been performed on a body with much lower gravity. Within the Japanese Martian Moon eXploration (MMX) mission, a wheeled rover will land on the Martian Moon Phobos with a gravity of about 1/2000 of the Earth gravity. The Robotic and Mechatronics Center of the German Aerospace Center (DLR-RMC) has designed and built the locomotion subsystem (LSS) for this rover. As the first ever driving gear for milli-gravity, the LSS needed to undergo a comprehensive qualification campaign. Due to the very challenging timeline of this project, the extent of the campaign needed to be carefully tailored to the needs of the mission. This work describes the concept of the verification including some crucial tailoring choices that have been made. The individual domains of verification are then described in detail with their scope, setup, procedure and results. The goal of this publication is to give a good overview and a detailed insight into the verification of the LSS for milli-gravity. Besides follow-up missions to Phobos, this work is also a good foundation for the qualification of future driving gears for low gravity environments or small rovers in general.

Item URL in elib:https://elib.dlr.de/194460/
Document Type:Conference or Workshop Item (Speech)
Title:Qualification of the MMX Rover Locomotion Subsystem for the Martian Moon Phobos
Authors:
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Barthelmes, StefanUNSPECIFIEDhttps://orcid.org/0000-0001-9619-5639UNSPECIFIED
Bayer, RalphUNSPECIFIEDhttps://orcid.org/0000-0003-2561-7974UNSPECIFIED
Bertleff, WielandUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Bihler, MarkusUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Buse, FabianUNSPECIFIEDhttps://orcid.org/0000-0002-2279-5735UNSPECIFIED
Chalon, MaximeUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Geyer, GüntherUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Hacker, FranzUNSPECIFIEDhttps://orcid.org/0000-0003-1913-8379UNSPECIFIED
Hofmann, CynthiaUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Holderried, RomanUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Kolb, AlexanderUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Krämer, ErichUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Langofer, ViktorUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Lichtenheldt, RoyUNSPECIFIEDhttps://orcid.org/0000-0002-2539-4910UNSPECIFIED
Moser, SaschaUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Fonseca Prince, AndreUNSPECIFIEDhttps://orcid.org/0000-0001-6820-3689146581674
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
Vodermayer, BernhardUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Date:15 May 2023
Journal or Publication Title:2023 IEEE Aerospace Conference, AERO 2023
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In SCOPUS:Yes
In ISI Web of Science:Yes
DOI:10.1109/AERO55745.2023.10115865
Publisher:IEEE
ISSN:1095-323X
ISBN:978-166549032-0
Status:Published
Keywords:Space Exploration; Robotics; Locomotion; Chassis; Mechatronics; Rover; Qualification
Event Title:IEEE Aerospace Conference
Event Location:Big Sky, Montana, USA
Event Type:international Conference
Event Start Date:5 March 2022
Event End Date:10 March 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:03 Apr 2023 11:16
Last Modified:24 Apr 2024 20:55

Repository Staff Only: item control page

Browse
Search
Help & Contact
Information
electronic library is running on EPrints 3.3.12
Website and database design: Copyright © German Aerospace Center (DLR). All rights reserved.