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Characterization of the MMX Rover Locomotion Flight Model for Check-Out and Parameterization

Barthelmes, Stefan and Buse, Fabian and Chalon, Maxime and Deutschmann, Bastian and Hacker, Franz and Holderried, Roman and Kolb, Alexander and Langofer, Viktor and Fonseca Prince, Andre and Sedlmayr, Hans-Jürgen and Skibbe, Juliane and Vodermayer, Bernhard (2024) Characterization of the MMX Rover Locomotion Flight Model for Check-Out and Parameterization. In: 2024 IEEE Aerospace Conference, AERO 2024. IEEE. IEEE Aerospace Conference, 2024-03-03 - 2024-03-08, Big Sky, Montana, USA. doi: 10.1109/AERO58975.2024.10521019. ISBN 979-835030462-6. ISSN 1095-323X.

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Official URL: https://ieeexplore.ieee.org/document/10521019


IDEFIX is a four-wheeled 25kg rover that is jointly developed and built by the French Centre National d'Etudes Spatiales (CNES) and the German Aerospace Center (DLR). It will be brought to the Martian Moon Phobos by the Japan Aerospace Exploration Agency (JAXA) as part of the Martian Moons eXploration (MMX) mission in 2027. IDEFIX's objectives are to scout the surface, demonstrate driving in milligravity and perform scientific measurements. To upright after landing on the surface, drive and align the rover to the sun, each wheel is mounted on a leg, which can be rotated full 360° in its respective shoulder joint. In previous publications, the development, flight design and qualification of the locomotion subsystem were presented. During the cruise phase there will be several health checks and - once landed on Phobos - the locomotion will be checkedout. To be able to analyze the health state quantitatively and parameterize the system properly, a good characterization of the system is important. The foundation of this characterization are tests and health-checks on the flight model (FM), as well as performance test results on the qualification model (QM). A selection of the post-processing and analysis of this measured data, that was done for the characterization of the Loco FM, is presented in this paper.

Item URL in elib:https://elib.dlr.de/203650/
Document Type:Conference or Workshop Item (Speech)
Title:Characterization of the MMX Rover Locomotion Flight Model for Check-Out and Parameterization
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
Deutschmann, BastianUNSPECIFIEDhttps://orcid.org/0000-0002-9139-5719UNSPECIFIED
Hacker, FranzUNSPECIFIEDhttps://orcid.org/0000-0003-1913-8379UNSPECIFIED
Fonseca Prince, AndreUNSPECIFIEDhttps://orcid.org/0000-0001-6820-3689157459502
Sedlmayr, Hans-JürgenUNSPECIFIEDhttps://orcid.org/0000-0003-1180-3960UNSPECIFIED
Skibbe, JulianeUNSPECIFIEDhttps://orcid.org/0000-0003-3194-4330UNSPECIFIED
Date:13 May 2024
Journal or Publication Title:2024 IEEE Aerospace Conference, AERO 2024
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In ISI Web of Science:No
Keywords:Space Exploration; Robotics; Locomotion; Chassis; Mechatronics; Rover; Characterization; Mars; Phobos; Martian Moon
Event Title:IEEE Aerospace Conference
Event Location:Big Sky, Montana, USA
Event Type:international Conference
Event Start Date:3 March 2024
Event End Date:8 March 2024
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
Deposited By: Barthelmes, Stefan
Deposited On:11 Apr 2024 22:52
Last Modified:04 Jun 2024 12:11

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