Innovative design of six wheeled space exploration robot using module combination

In this paper, we propose a novel methodology for the innovative design of six wheeled robot locomotion based on module combination, and the mathematical description of this method is also deduced using combinatorics. According to it, the creative design of wheeled locomotion can be carried out at systematic level and module level. At the systematic level, the design scheme can be obtained by isomorphic combination and isomerous combination of component modules. While at the modular level, the component module can be generalized from many existing robot modules or by creative design. As a result, 4 kinds of wheel module, 3 kinds of suspension module and 3 kinds of body module are obtained. Using the innovative design method based on module combination, as many as 135 kinds of innovative design scheme are proposed, including 35 new kinds of wheeled robot derived from isomorphic combination and 99 new kinds wheeled robot derived from isomerous combination. As for validation, we developed 3 kinds of wheel module, 4 kinds of suspension module and 1 kind of body module, and several prototype robots obtained by module combination are used to carry out mobility evaluation test, which help make decision on the proper choice for Chinese lunar robot in the future.

[1]  Yang Cheng,et al.  FIDO rover field trials as rehearsal for the NASA 2003 Mars Exploration Rovers mission , 2002, Proceedings of the 5th Biannual World Automation Congress.

[2]  James K. Erickson,et al.  The Mars Exploration Rover Project: 2005 surface operations results , 2007 .

[3]  Edward Tunstel,et al.  Evolution of Autonomous Self-Righting Behaviors for Articulated Nanorovers , 1999 .

[4]  Murali Krishna,et al.  Tethering system design for Dante II , 1997, Proceedings of International Conference on Robotics and Automation.

[5]  Hu Ming,et al.  Analysis of climbing obstacle capability of lunar rover with planetary wheel , 2004 .

[6]  P. S. Sologub,et al.  Small Marsokhod configuration , 1992, Proceedings 1992 IEEE International Conference on Robotics and Automation.

[7]  Brett Kennedy,et al.  LEMUR: Legged Excursion Mechanical Utility Rover , 2001, Auton. Robots.

[8]  Roland Siegwart,et al.  Innovative design for wheeled locomotion in rough terrain , 2002, Robotics Auton. Syst..

[9]  R. Rieder,et al.  NANOKHOD MICROROVER HEADING TOWARDS MARS , 1999 .

[10]  Eric Krotkov,et al.  Lunar rover technology demonstrations with Dante and Ratler , 1994 .

[11]  Lie Guo,et al.  Design of a high performance suspension for lunar rover based on evolution , 2009 .

[12]  I. Nakatani,et al.  Small, light-weight rover “Micro5” for lunar exploration , 2003 .

[13]  Li,et al.  MOBILITY EVALUATION AND INNOVATION OF WHEELED SPACE ROVER , 2006 .

[14]  W. Carrier.  Soviet rover systems , 1992 .

[15]  Aarne Halme,et al.  WorkPartner - centaur like service robot , 2002, IEEE/RSJ International Conference on Intelligent Robots and Systems.

[16]  William Whittaker,et al.  NOMAD: A Demonstration of the Transforming Chassis , 1998 .

[17]  Robert Ivlev,et al.  Rocky 7: a next generation Mars rover prototype , 1996, Adv. Robotics.

[18]  Edward Tunstel,et al.  Planetary Rover Developments Supporting Mars Exploration, Sample Return and Future Human-Robotic Colonization , 2003, Auton. Robots.

[19]  Peter Putz.  Space robotics in Europe , 1998, Robotics Auton. Syst..