0
Journal of Mechanical Design | Volume 136 | Issue 7 | research-article
Research Papers

Performance Analysis and Technical Feasibility Assessment of a Transforming Roving-Rolling Explorer Rover for Mars Exploration

[+] Author and Article Information
Lionel E. Edwin

Mechanical and Aerospace Engineering,
North Carolina State University,
Raleigh, NC 27695
e-mail: ledwin@ncsu.edu

Jason D. Denhart

Mechanical and Aerospace Engineering,
North Carolina State University,
Raleigh, NC 27695
e-mail: jddenhar@ncsu.edu

Thomas R. Gemmer

Mechanical and Aerospace Engineering,
North Carolina State University,
Raleigh, NC 27695
e-mail: trgemmer@ncsu.edu

Scott M. Ferguson

Assistant Professor
Mechanical and Aerospace Engineering,
North Carolina State University,
Raleigh, NC 27695
e-mail: scott_ferguson@ncsu.edu

Andre P. Mazzoleni

Associate Professor
Mechanical and Aerospace Engineering,
North Carolina State University,
Raleigh, NC 27695
e-mail: a_mazzoleni@ncsu.edu

Contributed by the Design Automation Committee of ASME for publication in the JOURNAL OF MECHANICAL DESIGN. Manuscript received June 7, 2013; final manuscript received March 27, 2014; published online May 5, 2014. Assoc. Editor: Irem Y. Tumer.

J. Mech. Des 136(7), 071010 (May 05, 2014) (11 pages) Paper No: MD-13-1248; doi: 10.1115/1.4027336 History: Received June 07, 2013; Revised March 27, 2014
Article
References
Figures
Tables
Citing Articles

This paper explores a two state rover concept called the Transforming Roving-Rolling Explorer (TRREx). The first state allows the rover to travel like a conventional 6-wheeled rover. The second state is a sphere to permit faster descent of steep inclines. Performance of this concept is compared to a traditional rocker-bogie (RB) architecture using hi-fidelity simulations in Webots. Results show that for missions involving very rugged terrain, or a considerable amount of downhill travel, the TRREx outperforms the rocker-bogie. Locomotion of the TRREx system using a continuous shifting of the center of mass through “actuated rolling” is also explored. A dynamics model for a cylindrical representation of the rover is simulated to identify feasible configurations capable of generating and maintaining continuous rolling motion even on sandy terrain. Results show that in sufficiently benign terrain gradual inclines can be traversed with actuated rolling. This model allows for increased exploration of the problem's design space and assists in establishing parameters for an Earth prototype.
FIGURES IN THIS ARTICLE
<>
Copyright © 2014 by ASME
Your Session has timed out. Please sign back in to continue.

References

1
Muirhead, B. K., 2004, “Mars Rovers, Past and Future,” Proceedings of the IEEE Aerospace Conference, pp. 6–13.
2
Kilit, O., and Yontar, A., 2009, “Stability of a New Mars Rover With Multi-Stage Bogie Mechanism,” 4th International Conference on Recent Advances in Space Technologies, Istanbul, Turkey, pp. 145–149.
3
Kite, E. S., Rafkin, S.Michaels, T., Dietrich, W. E., and Manga, M., 2011, “Chaos Terrain, Storms, and Past Climate on Mars,” J. Geophys. Res.-Planets, 116, p. E100002.
4
Eisen, H. J., Buck, C. W., Gillis-Smith, G. R., and Umland, J. W., 1997, “Mechanical Design of the Mars Pathfinder Mission,” Proceedings of Seventh European Space Mechanisms and Tribology Symposium, ESA Headquarters, Noordwijk, Netherlands, pp. 11–17.
5
Lindemann, R. A., Bickler, D. B., Harrington, B. D., Ortiz, G. M., and Voorhees, C. J., 2006, “Mars Exploration Rover Mobility Development–Mechanical Mobility Hardware Design, Development, and Testing,” IEEE Rob. Autom. Mag., 13(2), pp. 19–26. [CrossRef]
6
Golombek, M., Arvidson, R. E., Bell, J. F., Christensen, P. R., Crisp, J. A., Crumpler, L. S., Ehlmann, B. L., Fergason, R. L., Grant, J. A., Greeley, R., Haldemann, A. F. C., Kass, D. M., Parker, T. J., Schofield, J. T., Squyres, S. W., and Zurek, R. W., 2005, “Assessment of Mars Exploration Rover Landing Site Predictions,” Nature, 436(7047), pp. 44–48. [CrossRef]
7
Siegwart, R., Lamon, P., Estier, T., Lauria, M., and Piguet, R., 2002, “Innovative Design for Wheeled Locomotion in Rough Terrain,” Rob. Auton. Syst., 40(2–3), pp. 151–162. [CrossRef]
8
Miller, D. P., and Tze-Liang, L., 2002, “High-Speed Traversal of Rough Terrain Using a Rocker-Bogie Mobility System,” Space 2002 and Robotics 2002: Proceedings of Space 2002: The Eighth International Conference and Exposition on Engineering, Construction, Operations, and Business in Space, and Proceedings of Robotics 2002: The Fifth International Conference and Exposition/Demonstration on Robotics for Challenging Situations and Environments, Albuquerque, NM.
9
Lindemann, R. A., and Voorhees, C. J., 2005, “Mars Exploration Rover Mobility Assembly Design, Test, and Performance,” 2005 IEEE Conference on Systems, Man and Cybernetics, The Big Island, HI, Vol. 1, pp. 450–455.
10
Edwin, L. E., Mazzoleni, A. P., and Hartl, A. E., 2012, “Biologically Inspired Transforming Roving-Rolling Explorer (TRREx) Rover for Lunar Exploration,” Proceedings of the 63rd International Astronautical Congress, Naples, Italy, Paper IAC-12.A3.2D.12.
11
Ferguson, S., Lewis, K., de Weck, O., and Siddiqi, A., 2007, “Flexible and Reconfigurable Systems: Nomenclature and Review,” 2007 ASME DETC and CIE Conferences, Las Vegas, NV, Sept. 4–7, ASME Paper No. DETC2007/DAC-35745, pp. 249–263. [CrossRef]
12
Singh, V., Skiles, S., Krager, J., Wood, K., Jensen, D., and Sierakowski, D., 2009, “Innovations in Design Through Transformation: A Fundamental Study of Transformation Principles,” ASME J. Mech. Des., 131(8), pp. 1–18. [CrossRef]
13
Haldaman, J., 2010, “Study of Reconfigurability and Reconfigurable Products for Use in Design,” M.S. thesis, Penn State University, University Park, PA.
14
Haldaman, J., and Parkinson, M., 2010, “Reconfigurable Products and Their Means of Reconfiguration,” 2010 ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, Quebec, Canada, Aug. 15–18, ASME Paper No. DETC2010-28528, pp. 219–228. [CrossRef]
15
Olewnik, A., Brauen, T., Ferguson, S., and Lewis, K., 2004, “A Framework for Flexible Systems and Its Implementation in Multiattribute Decision Making,” ASME J. Mech. Des., 126(3), pp. 412–419. [CrossRef]
16
Siddiqi, A., de Weck, O., and Iagnemma, K., 2006, “Reconfigurability in Planetary Surface Vehicles: Modeling Approaches and Case Study,” J. Br. Interplanet. Soc., 59(12): 450–460.
17
Neches, R., 2011, “Engineered Resilient Systems S&T Priority Description and Roadmap,” Proceedings of the NDIA 8th Annual Disruptive Technologies Conference, Washington D.C.
18
Madni, A., and Jackson, S., 2009, “Towards a Conceptual Framework for Resilience Engineering,” IEEE Syst. J., 3(2), pp. 181–191. [CrossRef]
19
Namgoong, H., Crossley, W. A., and Lyrintzis, A. S., 2012, “Morphing Airfoil Design for Minimum Drag and Actuation Energy Including Aerodynamic Work,” J. Aircr., 49(4), pp. 981–990. [CrossRef]
20
Bowman, J., Weisshaar, T., and Sanders, B., 2002, “Evaluating the Impact of Morphing Technologies on Aircraft Performance,” 43rd AIAA/ASME/ASCE/AHA/ACS Structures, Structural Dynamics, and Materials Conference, Denver, CO, AIAA 2002–1631.
21
Ferguson, S., Kasprzak, E., and Lewis, K., 2008, “Designing a Family of Reconfigurable Vehicles Using Multilevel Multidisciplinary Design Optimization,” Struct. Multidiscip. Optim., 39(2), pp. 171–186. [CrossRef]
22
Olewnik, A., and Lewis, K., 2006, “A Decision Support Framework for Flexible System Design,” J. Eng. Des., 17(1), pp. 75–97. [CrossRef]
23
Khire, R., and Messac, A., 2008, “Selection-Integrated Optimization (SIO) Methodology for Optimal Design of Adaptive Systems,” ASME J. Mech. Des., 130(10), p. 101401. [CrossRef]
24
Chmarra, M., Waarsing, R., Verriet, J., and Tomiyama, T., 2010, “State Transition in Reconfigurable Systems,” 2010 ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, Quebec, Canada, Aug. 15–18, ASME Paper No. DETC2010–28723.
25
Siddiqi, A., and de Weck, O., 2008, “Modeling Methods and Conceptual Design Principles for Reconfigurable Systems,” ASME J. Mech. Des., 130(10), p. 101102. [CrossRef]
26
Arts, L., Chmarra, M., and Tomiyama, T., 2008, “Modularization Method for Adaptable Products,” 2008 ASME International Design Engineering Technical Conference and Computers and Information in Engineering Conference, New York, NY, Aug. 3–6, ASME Paper No. DETC2008-49338. [CrossRef]
27
Lewis, P., and Mattson, C., 2011, “A Method for Developing Systems that Traverse the Pareto Frontiers of Multiple System Concepts Through Modularity,” Struct. Multidiscip. Optim., 45(4), pp. 467–478. [CrossRef]
28
Lewis, P., Murray, V., and Mattson, C., 2011, “A Design Optimization Strategy for Creating Devices That Traverse the Pareto Frontier Over Time,” Struct. Multidiscip. Optim., 43(2), pp. 191–204. [CrossRef]
29
Chmarra, M., Arts, L., and Tomiyama, T., 2008, “Towards Adaptable Architecture,” 2008 ASME International Design Engineering Technical Conference and Computers and Information in Engineering Conference, New York, NY, Aug. 3–6, ASME Paper No. DETC2008-49971. [CrossRef]
30
Pate, D., Patterson, M., and German, B., 2012, “Optimizing Families of Reconfigurable Aircraft for Multiple Missions,” J. Aircr., 49(6): 1988–2000. [CrossRef]
31
Patterson, M., Pate, D., and German, B., 2012, Performance Flexibility of Reconfigurable Families of Unmanned Air Vehicles,” J. Aircr., 49(6), pp. 1831–1843. [CrossRef]
32
Simpson, T., Siddique, Z., and Jiao, J., eds., 2006, Product Platform and Product Family Design: Methods and Applications, Springer, New York.
33
Jiao, J., Simpson, T., and Siddique, Z., 2007, “Product Family Design and Platform-Based Product Development: A State-of-the-Art Review,” J. Intell. Manuf., 18(1), pp. 5–29. [CrossRef]
34
Pirmoradi, Z., and Wang, G., 2011, “Recent Advancements in Product Family Design and Platform-Based Product Development: A Literature Review,” 2011 ASME International Design Engineering Technical Conference and Computers and Information in Engineering Conference, Washington, DC, Aug. 28–31, ASME Paper No. DETC2011–47959, pp. 1041–1055. [CrossRef]
35
Ferguson, S., and Lewis, K., 2006, “Effective Development of Reconfigurable Systems Using Linear State-Feedback Control,” AIAA J., 44(4), pp. 868–878. [CrossRef]
36
McGowan, A., Vicroy, D., Busan, R., and Hahn, S., 2009, “Perspectives on Highly Adaptable or Morphing Aircraft,” RTO Applied Vehicle Technology Panel (AVT) Symposium, Evora, Portugal.
37
Yen, J., Jain, A., and Balaram, J., 1999, “ROAMS: Rover Analysis Modeling and Simulation,” 5th International Symposium on Artificial Intelligence, Robotics and Automation in Space, Noordwijk, Netherlands.
38
Michaud, S., Richter, L., Thueer, T., Gibbesch, A., Huelsing, T., Schmitz, N., Weiss, S., Krebs, A., Patel, N., Joudrier, L., Siegwart, R., Schafer, B., and Ellery, A., 2006, “Rover Chassis Evaluation and Design Optimization Using the RCET,” Proceedings of the 9th ESA Workshop on ASTRA, Noordwijk, Netherlands.
39
Michaud, S., Richter, L., Patel, N., Thueer, T., Huelsing, T., Joudrier, L., Siegwart, R., and Ellery, A., 2004, “RCET: Rover Chassis Evaluation Tools,” Proceedings of the 8th ESA Workshop on ASTRA, Noordwijk, Netherlands.
40
Sohl, G., and Jain, A., 2005, “Wheel-Terrain Contact Modeling in the ROAMS Planetary Rover Simulation,” Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, Vol. 6(A–C), pp. 89–97.
41
Yang, Y. C., Bao, J. S., Jin, Y., and Cheng, Y. L., 2008, “A Virtual Simulation Environment for Lunar Rover: Framework and Key Technologies,” Int. J. Adv. Rob. Syst., 5(2), pp. 201–208.
42
Patel, N., Ellery, A., Allouis, E., Sweeting, M., and Richter, L., 2004, “Rover Mobility Performance Evaluation Tool (RMPET): A Systematic Tool for Rover Chassis Evaluation Via Application of Bekker Theory,” Proceedings of the 8th ESA Workshop on Advanced Space Technologies for Robotics and Automation, Noordwijk, Netherlands.
43
Webots, Commercial Mobile Robot Simulation Software, http://www.cyberbotics.com
44
Michel, O., 2004, “WebotsTM: Professional Mobile Robot Simulation,” Int. J. Adv. Robotic Syst., 1(1), pp. 39–42.
45
Wang, L. F., Tan, K. C., and Prahlad, V., 2002, “Developing Khepera Robot Applications in a Webots Environment,” International Symposium on Micromechatronics and Human Science, Nagoya, Japan.
46
Open Dynamics Engine, www.ode.org
47
Genta, G., and Genta, A., 2011, “Preliminary Assessment of a Small Robotic Rover for Titan Exploration,” Acta Astronaut., 68(5–6), pp. 556–566. [CrossRef]
48
Bauer, R., Barfoot, T., Leung, W., and Ravindran, G., 2008, “Dynamic Simulation Tool Development for Planetary Rovers,” Int. J. Adv. Rob. Syst., 5(3), pp. 311–314.
49
Bruhn, F. C., Kratz, H., Warell, J., et al. ., 2008, “A Preliminary Design for a Spherical Inflatable Microrover for Planetary Exploration,” Acta Astronaut., 63(5–6), pp. 618–631. [CrossRef]
50
Chen, F., and Genta, G., 2012, “Dynamic Modeling of Wheeled Planetary Rovers: A Model Based on the Pseudo-Coordinates Approach,” Acta Astronaut., 81, pp. 288–305. [CrossRef]
51
Chen, B. C., Wang, R. B., Jia, Y., Guo, L., and Yang, L., 2009, “Design of a High Performance Suspension for Lunar Rover Based on Evolution,” Acta Astronaut., 64(9–10), pp. 925–934. [CrossRef]
52
Hacot, H., Dubowsky, S., and Bidaud, P., 1998, “Analysis and Simulation of a Rocker-Bogie Exploration Rover,” Courses and Lectures—International Centre for Mechanical Sciences, pp. 95–102.
53
Perko, H., Nelson, J., and Green, J., 2006, “Mars Soil Mechanical Properties and Suitability of Mars Soil Simulants,” J. Aerosp. Eng., 19(3), pp. 169–176. [CrossRef]
54
Golombek, M., and Rapp, D., 1997, “Size-frequency Distributions of Rocks on Mars and Earth Analog Sites: Implications for Future Landed Missions,” J. Geophys. Res.—Planets, 102(E2), pp. 4117–4129. [CrossRef]
55
Genta, G., 2011, Introduction to the Mechanics of Space Robots, Springer Science Business Media, New York.
56
Otto, K. N., and Antonsson, E. K., 1991, “Trade-Off Strategies in Engineering Design,” Res. Eng. Des., 3(2), pp. 87–103. [CrossRef]
57
Lewis, K. E., Chen, W., and Schmidt, L. C., 2006, Decision Making in Engineering Design, ASME Press, New York.
58
Hazelrigg, G., 1998, “A Framework for Decision-Based Engineering Design,” ASME J. Mech. Des., 120(4), pp. 653–658. [CrossRef]
59
See, T.-K., Gurnani, A., and Lewis, K., 2005, “Multi-Attribute Decision Making Using Hypothetical Equivalents and Inequivalents,” ASME J. Mech. Des., 126(6), pp. 950–958. [CrossRef]
60
Wilson, J. L., Mazzoleni, A. P., and DeJarnette, F. R., 2008, “Design, Analysis and Testing of Mars Tumbleweed Rover Concepts,” J. Spacecr. Rockets, 45(2), pp. 370–382. [CrossRef]
61
Hartl, A. E., and Mazzoleni, A. P., 2010, “Dynamic Modeling of a Wind-Driven Tumbleweed Rover Including Atmospheric Effects,” J. Spacecr. Rockets, 47(3), pp. 493–502. [CrossRef]
62
Hartl, A. E., and Mazzoleni, A. P., 2012, “Terrain Modeling and Simulation of a Tumbleweed Rover Traversing Martian Rock Fields,” J. Spacecr. Rockets, 49(2), pp. 401–412. [CrossRef]
63
Hartl, A. E., and Mazzoleni, A. P., 2008, “Parametric Study of Spherical Rovers Crossing a Valley,” J. Guid., Control, Dyn., 31(3), pp. 775–778. [CrossRef]
64
Uicker, J. J., Pennock, G., and Shigley, J., 2003, Theory of Machines and Mechanisms, Oxford University, MA.
65
Meirovitch, L., 2003, Methods of Analytical Dynamics, Dover, Mineola, NY.
66
MATLAB version 7.10.0.499, 2010, Natick, The MathWorks Inc., MA.
67
Baker, I. O., 1919, A Treatise on Roads and Pavements, John Wiley & Sons, New York.

Figures

Grahic Jump Location
Fig. 2

Testing models used in Webots, TRREx (left), and rocker-bogie (right)

+Testing models used in Webots, TRREx (left), and rocker-bogie (right)
View Large  |  Save Figure  |  Download Slide (.ppt)
Testing models used in Webots, TRREx (left), and rocker-bogie (right)
Grahic Jump Location
Fig. 1

TRREx rover configuration change

+TRREx rover configuration change
View Large  |  Save Figure  |  Download Slide (.ppt)
TRREx rover configuration change
Grahic Jump Location
Fig. 3

Raw data from Webots simulations

+Raw data from Webots simulations
View Large  |  Save Figure  |  Download Slide (.ppt)
Raw data from Webots simulations
Grahic Jump Location
Fig. 5

Definition of frames

+Definition of frames
View Large  |  Save Figure  |  Download Slide (.ppt)
Definition of frames
Grahic Jump Location
Fig. 4

Cylindrical version of the TRREx

+Cylindrical version of the TRREx
View Large  |  Save Figure  |  Download Slide (.ppt)
Cylindrical version of the TRREx
Grahic Jump Location
Fig. 6

External forces on the cylindrical TRREx

+External forces on the cylindrical TRREx
View Large  |  Save Figure  |  Download Slide (.ppt)
External forces on the cylindrical TRREx
Grahic Jump Location
Fig. 8

Actuated rolling of Candidate 3 on difficult terrain on Mars

+Actuated rolling of Candidate 3 on difficult terrain on Mars
View Large  |  Save Figure  |  Download Slide (.ppt)
Actuated rolling of Candidate 3 on difficult terrain on Mars
Grahic Jump Location
Fig. 7

Actuated rolling of Candidate 2 up a slope on moderate terrain on Earth

+Actuated rolling of Candidate 2 up a slope on moderate terrain on Earth
View Large  |  Save Figure  |  Download Slide (.ppt)
Actuated rolling of Candidate 2 up a slope on moderate terrain on Earth

Tables

Errata

Discussions

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related Journal Articles
Related eBook Content
Modeling Technique of Product Master Model for Aero Engine Multidisciplinary Collaborative Design and Simulation
Proceedings of the 2010 International Conference on Mechanical, Industrial, and Manufacturing Technologies (MIMT 2010)
Application of MIKE21-BW Model in the General Arrangement of a Fish Porjt
International Conference on Advanced Computer Theory and Engineering, 4th (ICACTE 2011)
3D Simulation Technology of Hydrocarbon Migration and Accumulation and Its Application in Songnan-Baodao Area of Qiongdongnan Basin, South China Sea
Proceedings of the International Conference on Technology Management and Innovation
Research and Implementation of Collaborative Development Platform for Complex System
Proceedings of the 2010 International Conference on Mechanical, Industrial, and Manufacturing Technologies (MIMT 2010)
Industrially-Relevant Multiscale Modeling of Hydrogen Assisted Degradation
International Hydrogen Conference (IHC 2012)> Chapter 79
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
This site uses cookies. By continuing to use our website, you are agreeing to our privacy policy. | Accept
Sign In