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Steering and Suspension Systems ENAE 788X - Planetary Surface Robotics

U N I V E R S I T Y O FMARYLAND

Steering and Suspension Systems

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• Steering Systems– Skid-Steer– Differential drive– Trailer steering– Ackerman steering– Actively controlled steering (Independent/explicit)– Holonomic vs. Nonholonomic Systems

• Suspension Systems– Rigid Suspension– Independent Suspension– Articulated/Split-Body Suspension– Rocker-Bogie Configurations– Segmented-Body Rovers– Active Suspension

Terramechanics ENAE 788X - Planetary Surface Robotics


Class Notes

• No lecture on Wednesday 9/26 • Spend the time working on your term projects

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Teams for Term Project - ENAE 788X

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Team 1:Phillip FrazierAakash PatelDaven PatelPref: D, F

Team 2:Gautam BalachandranAaradh Kannan SubramanianPref: A, B, F

Team 3:Dan GribokCasey KracinovichMatt StonePref:D, A, C, E, B, F

Armstrong:Suraj BandelaAbu Mohamed HamidKrupesh PrajapatiPref:D, E, C, A, B

Impeccable Neophytes:Hanish MehtaAbhinav ModiRohan SinghPref:C, D, B, A, E, F

Thor:Jessica ChenRyan ErnandisAnand PatelPref:B, A, D, C, E, F

Vyom Narashva:Gunjan KhutDarshan PandyaUtsav PatelPref: C, A, B, D, E, F No Reply(?):

Ori PerlAlex McMillan

Solo Projects:Benjamin Jarvis (C, B, A, D, E, F)Oluseye Soyombo (B, A, F, C, D, E)Cameron Goss (E, D, F, B, A, C)

Team 4:Daniel DiazdelcastilloRene JacquesNeelanjan LahiriPref:E, B, C, F, D



Term Project Assignments• A) Minimum rover with life support only

– Team 2 • B) A) plus tools/sample transport

– Team Thor, Soyombo (solo) • C) B) plus crew transport

– Impeccable Neophytes, Vyom Narashva, Jarvis (solo) • D) C) plus contingency transport of second crew

– Team 3, Armstrong • E) Two-person rover with life support

– Team 4, Goss (solo) • F) Pressurized rover

– Team 1 • ???? Perl, McMillan

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ENAE 788X Design Project Statement

• Perform a detailed design of a small astronaut assistance rover, emphasizing mobility systems – Chassis systems (e.g., wheels, steering, suspension…) – Support systems (e.g., energy storage) – Navigation and guidance system (e.g., sensors,

algorithms...)

• Design for Moon, then assess feasibility of systems for Mars, and conversion to Earth analogue rover

• This is not a hardware project - focus is on detailed design (but may be built later!)

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BioBot Concept

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Starting Assumptions

• Life support hardware occupies 1 m3 and has a mass of 100 kg

• Umbilical reel and tending system will be 50 kg and need clear access to all around the vehicle

• Astronaut mass for transport is 150 kg • Astronaut will require simple access to interfaces

(e.g., step to seat, body restraints) • Pressurized rover cabin will be 2m diameter by

2 long cylindrical section with ellipsoidal endcaps

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Sample HI-SEAS Terrain

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24° slope




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Initial Performance Requirements

• Vehicle should be capable of reliable locomotion in any terrain accessible by spacesuited human

• Minimum top velocity of 10 km/hr on flat terrain • Capable of rolling over 0.1m obstacle at full speed • Capable of rolling over 0.3m obstacle at slow

speed • Capable of travel in any direction on 25° slopes • Minimum range of 50 km in eight hours

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First Steps in Rover Design

• Assume a vehicle gross weight • Examine rolling resistance for design parameters

– Number of wheels – Diameter of wheels – Width of wheels

• Calculate torque transfer to ground – Required torque for climbing maximum slope – Design of grousers for required torque

• Next step: chassis design

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Skid Steering (Skid-Slip Steering)

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Fixed Suspension - Electric Tractor (JSC)

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ET “Suspension”

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Fixed Suspension in Hilly Terrain

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ATRV Skid-Steer Robots

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Differential Drive (Swiveling Wheels)

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Laboratory Robot (CMU)

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Laboratory Robot (CMU)

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RAVEN (UMd/ASU)

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RAVEN in Mobility Testing

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Ackermann Steering

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Tooth (JPL) - Ackerman Steering

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Steering Schemes

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Trailer Steering

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Hyperion (CMU)

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Hyperion (CMU) - Trailer Steering

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Independent Suspension (Towed Vehicle)

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SCOUT Astronaut Support Rover (JSC)

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SCOUT Suspension and Steering

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Articulating Suspension - Nomad (CMU)

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Nomad Transforming Chassis

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Nomad in Rough Terrain

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Nomad Chassis/Steering System

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Nomad with Wheels Stowed

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Nomad Steering Schemes

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Nomad Power in Skid and Explicit Turns

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Steering Power Comparison with Fixed Loads

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Nomad Wheel Torques in Skid Turn

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Split-Body Rovers (Sandia Labs)

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Ratler (Sandia Labs)

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Rocker-Bogie - Rocky 4

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Rocky 7

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Sojourner

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FIDO (JPL)

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Mars Exploration Rover “Spirit”

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MER Rocker-Bogie Configuration

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Lightweight Survivable Rover Dimensions

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Mars Science Laboratory Development Unit

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MSL Engineering Development Unit

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K-Rex Rover (CMU for NASA Ames)

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K-Rex Wheel Drive/Steering System

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Lunar X-Prize (CMU)

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Articulated Bogey Configuration

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Segmented Body - Marsokhod

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Marsokhod Chassis

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Robby (JPL)

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Go-For (JPL)

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SCARAB (CMU)

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Scarab Wheel Articulation (CMU)

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SCARAB at Full Extension (CMU)

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Mars Rover (VNIITransmash -

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Apollo Lunar Roving Vehicle

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SCOUT Rover (JSC)

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Electric Tractor and Chariot (JSC)

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Active Suspension - Chariot

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Chariot B Climbs a Boulder Field

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RAVEN in Field Trials

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SEV Driving Onto ~20° Slope

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SEV on ~20° Slope

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SEV Dual Bogie Soil Contact

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ATHLETE (JPL)

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Centaur with Robonaut (JSC)

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Centaur Body Pose and Turning

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Palm Pilot Robot (CMU)(Holonomic)

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Tessellator (CMU) (Holonomic)

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steering and suspension systems - spacecraft.ssl.umd.edu · steering and suspension systems enae...

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