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

MMX Locomotion Subsystem: mechanics for extraterrestrial low gravity drive

Langofer, Viktor and Bayer, Ralph and Kolb, Alexander and Sasaki, Kaname (2023) MMX Locomotion Subsystem: mechanics for extraterrestrial low gravity drive. In: 2023 IEEE Aerospace Conference, AERO 2023. IEEE. IEEE Aerospace Conference, 5-10 Mar 2023, Big Sky, Montana, USA. doi: 10.1109/AERO55745.2023.10115807. ISBN 978-166549032-0. ISSN 1095-323X.

[img] PDF

Official URL: https://ieeexplore.ieee.org/document/10115807


The advent of exploring low-gravity environments gives the opportunity to land rovers on celestial bodies without any landing platform and perform manipulative tasks under mostly unknown conditions. In addition to common loads, for example vibration, operation and thermal loads, the rover will face also impact loads during touchdown. This circumstance requires additional mechanisms to protect exposed parts, like the legs and wheels of a rover. Previous research attaches the wheels to the rover body or the landing platform through cup-cone interfaces at the wheel hub, which leads to unfavorable force distribution at the wheel rim in certain load cases, especially if the wheel represents the first point of contact during touchdown. This paper gives a detailed description in the mechanical design and testing of the locomotion subsystem (LSS) of the Martian Moons eXploration (MMX) rover. As the rover will fall to the moon Phobos unprotected and without any landing platform, the exposed locomotion subsystem has a high probability of being the initial contact point at touchdown. Besides the drivetrains and thermal hardware, a novel hold down and release mechanism (HDRM) will be introduced as an integral part of the locomotion subsystem. The HDRM is realized using three support structures at the wheel rim and one fixation in the wheel axis. In this way, the exposed locomotion subsystem will be stabilized in described load cases, since each support structure forms a closed kinematic loop with the wheel and the central fixation in stowed configuration. This approach leads to vibration and impact resistant behavior

Item URL in elib:https://elib.dlr.de/194763/
Document Type:Conference or Workshop Item (Speech)
Title:MMX Locomotion Subsystem: mechanics for extraterrestrial low gravity drive
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Bayer, RalphUNSPECIFIEDhttps://orcid.org/0000-0003-2561-7974UNSPECIFIED
Sasaki, KanameUNSPECIFIEDhttps://orcid.org/0000-0003-0365-4539UNSPECIFIED
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 ISI Web of Science:No
Keywords:space, mmx, rover, aerospace, hdrm, mechanics, locomotion, system
Event Title:IEEE Aerospace Conference
Event Location:Big Sky, Montana, USA
Event Type:international Conference
Event Dates:5-10 Mar 2023
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: Bremen , Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Mechatronic Systems
Institute of Space Systems > Mechanic and Thermal Systems
Deposited By: Langofer, Viktor
Deposited On:27 Apr 2023 10:19
Last Modified:14 Jun 2023 12:34

Repository Staff Only: item control page

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