Wheeled Rovers With Posable Hubs for Terrestrial and Extraterrestrial Exploration
| Autor: | Tim Hojnik, Jonathan Roberts, Ross Dungavell, Paul Flick |
|---|---|
| Jazyk: | angličtina |
| Rok vydání: | 2020 |
| Předmět: |
0209 industrial biotechnology
Chassis General Computer Science Computer science Extraterrestrial exploration Terrain 02 engineering and technology roving vehicles extreme environments 01 natural sciences Space exploration 020901 industrial engineering & automation ROVER 0103 physical sciences General Materials Science Aerospace engineering 010301 acoustics Search and rescue business.industry General Engineering Linear actuator Extraterrestrial life wheeled robots lcsh:Electrical engineering. Electronics. Nuclear engineering business lcsh:TK1-9971 |
| Zdroj: | IEEE Access, Vol 8, Pp 154318-154328 (2020) |
| ISSN: | 2169-3536 |
| Popis: | Space exploration and work such as search and rescue or resource mining is dangerous and often unsuited to manned platforms due to the associated dangers and costs. As a result unmanned wheeled rovers dominate the sectors as they exhibit a lower cost of transport to other legged systems. However, wheels have limited debogging and self-recovery ability if they become stuck. We propose a Posable Hub, where using electric linear actuators instead of a rigid spoke structure, the wheel centre hub can be actively manipulated. We construct a four wheeled rover with Posable Hubs and perform experiments on debogging, chassis levelling for sloped and uneven terrains and generating locomotion with a failed drive motor by converting gravitational potential energy into rotational motion. Our experiments compare the results to classical wheels and validate the superiority of our Posable Hubs for extreme and unstructured terrains such as environments experienced in terrestrial and extraterrestrial exploration. |
| Databáze: | OpenAIRE |
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