Analysis And Simulation Of A Rocker-Bogie Exploration Rover

Abstract

Rovers will continue to play an important role in planetary exploration. Plans include the use of the rocker-bogie rover configuration. Here, models of the mechanics of this configuration are presented. Methods for solving the inverse kinematics of the system and quasi-static force analysis are described. Also described is a simulation based on the models of the rover's performance. Experimental results confirm the validity of the models. 1. Introduction NASA recently started an ambitious exploration program of Mars [1]. Pathfinder is the first rover explorer in this program [2],[3]. Future rovers will need to travel several kilometers over periods of months and manipulate rock and soil samples. They will also need to be somewhat autonomous. Rocker-bogie based rovers are likely candidates for these missions (see Figure 1). The physics of these rovers is quite complex. To design and control these, analytical models of how the rover interacts with its environment are essential [4]. Mo...