Title :
Small Marsokhod configuration
Author :
Kemurdjian, A. ; Gromov, V. ; Mishkinyuk, V. ; Kucherenko, V. ; Sologub, P.
Author_Institution :
Vniitransmash, St. Petersburg, Russia
Abstract :
The concept of the small Marsokhod, of total mass 70-75 kg, is assessed. Marsokhod is the Russian equivalent of the Mars rover and is projected to be employed in the Mars96 expedition. The advantages of the design scheme selected for the driver and the undercarriage are described. Technical data on the small Marsokhod undercarriage are given; it is articulated and has 6 conical wheels. Possible modes of motion and control are discussed, and a summary of these modes is given
Keywords :
Mars; mobile robots; vehicles; 6-wheel vehicle; 70 to 75 kg; Mars surface exploration vehicle; Mars96 expedition; Marsokhod configuration; articulated undercarriage; conical wheels; small Marsokhod; Earth; Helium; Information systems; Mars; Motion control; Propulsion; Samarium; Sampling methods; Vehicle dynamics;
Conference_Titel :
Robotics and Automation, 1992. Proceedings., 1992 IEEE International Conference on
Conference_Location :
Nice
Print_ISBN :
0-8186-2720-4
DOI :
10.1109/ROBOT.1992.220318
