Abstract
Dimensional optimization is important for planetary rovers to reach good performance, such as high mobility, stability, and low energy consumption. The paper presents a dimensional optimization for a planetary rover with rocker-bogie suspension. During the optimization process, the influence of dimensions on the actuation requirements is studied based on kinetostatics and terramechanics. The objective function is built considering the average driving torque requirements in the most common type of windblown terrain in Mars called megaripples. The optimal dimension design is reached through the genetic algorithm, and the influences of dimensional parameters on rover performances are studied by drawing performance atlases. This work realizes the consideration of energy consumption in the design phase of a planetary rover. Finally, the results guide the design of a rover prototype and are validated by a series of experiments.
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callMore From: Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science
Disclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
