A Simulation-Based Stability Analysis of Idefix During the Initial Shutter Deployment

Abstract

IDEFIX is a four-wheeled, box-shaped rover developed for the in-situ exploration of the Martian moon Phobos. IDEFIX is the first rover designed to operate in a milli-gravity environment using wheeled locomotion. Following separation from the MMX spacecraft and successful landing on the surface of Phobos, the rover executes a predefined autonomous sequence comprising uprighting to a nominal pose, unfolding solar panels, and opening shutters protecting cameras and scientific instruments. The actuation of the shutter system leads to short-term mechanical momenta on the rover structure, which, when not handled properly, poses a significant risk to the system's stability due to the milli-g environment. A simulation-based method is used to evaluate and analyze the stability of IDEFIX during the shutter opening process. In this way, it is possible to assess the risk of opening the shutter and to determine an optimal rover posture in which the risk is minimized