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Driving in Milli-G: The Flight Model of the MMX Rover Locomotion Subsystem and its Integration & Testing in the Rover

Barthelmes, Stefan and Buse, Fabian and Chalon, Maxime and Hacker, Franz and Langofer, Viktor and Sedlmayr, Hans-Jürgen and Skibbe, Juliane (2023) Driving in Milli-G: The Flight Model of the MMX Rover Locomotion Subsystem and its Integration & Testing in the Rover. In: 17th Symposium on Advanced Space Technologies in Robotics and Automation (ASTRA). 17th Symposium on Advanced Space Technologies in Robotics and Automation (ASTRA), 18-20 Oct 2023, Leiden, Niederlande.

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Official URL: https://atpi.eventsair.com/astra2023/programme

Abstract

IDEFIX is a 25 kg four-wheeled rover that will explore the surface of the Martian Moon Phobos in 2027. The rover is jointly developed by the German Aerospace Center (DLR) and the Centre National d'Etudes Spatiales (CNES) and will be brought to Phobos within the Japan Aerospace Exploration Agency's (JAXA) Martian Moon eXploration (MMX) mission. Being the world's first wheeled system to drive in milli-gravity, IDEFIX's locomotion deserves special attention. This paper gives an overview of the locomotion subsystem (LSS) of the rover, which is entirely developed and built by the Robotics and Mechatronics Center of DLR (DLR-RMC). A representative LSS, mounted on an IDEFIX prototype, is shown in Figure 1. The LSS is tailored to the needs for the IDEFIX rover and the most important, sizing challenges and functional requirements are summarized. It is then shown how the final flight model (FM) design answers to these requirements. The assembly, integration and testing (AIT) with respect to the LSS consists of several steps of integration and testing at different facilities as well as a comprehensive test sequence once the rover is mostly integrated. Since the LSS is an important, interconnected and the functionally most complex subsystem of the rover, some functionalities could only be tested once the LSS was integrated into IDEFIX. These AIT aspects are therefore summarized in this paper as well.

Item URL in elib:https://elib.dlr.de/198923/
Document Type:Conference or Workshop Item (Speech)
Title:Driving in Milli-G: The Flight Model of the MMX Rover Locomotion Subsystem and its Integration & Testing in the Rover
Authors:
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Barthelmes, StefanUNSPECIFIEDhttps://orcid.org/0000-0001-9619-5639UNSPECIFIED
Buse, FabianUNSPECIFIEDhttps://orcid.org/0000-0002-2279-5735UNSPECIFIED
Chalon, MaximeUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Hacker, FranzUNSPECIFIEDhttps://orcid.org/0000-0003-1913-8379UNSPECIFIED
Langofer, ViktorUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Sedlmayr, Hans-JürgenUNSPECIFIEDhttps://orcid.org/0000-0003-1180-3960UNSPECIFIED
Skibbe, JulianeUNSPECIFIEDhttps://orcid.org/0000-0003-3194-4330UNSPECIFIED
Date:2023
Journal or Publication Title:17th Symposium on Advanced Space Technologies in Robotics and Automation (ASTRA)
Refereed publication:No
Open Access:Yes
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
Status:Published
Keywords:Exploration; Phobos; Mars; Rover; Locomotion
Event Title:17th Symposium on Advanced Space Technologies in Robotics and Automation (ASTRA)
Event Location:Leiden, Niederlande
Event Type:international Conference
Event Dates:18-20 Oct 2023
Organizer:ESA
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) > Analysis and Control of Advanced Robotic Systems
Institute of Robotics and Mechatronics (since 2013) > Mechatronic Systems
Deposited By: Barthelmes, Stefan
Deposited On:09 Nov 2023 12:14
Last Modified:09 Nov 2023 12:14

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