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Proceedings Paper

Ground Vehicle Options
Author(s): Wendell Chun
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Paper Abstract

Data from the Viking missions paint a terrain of volcanic plains, complex lava flow, channel beds, and escarpments. This extreme variety of terrain puts a stringent requirement on the Mars rover design. The rover's versatility will be reflected by its performance over troughs, through rock fields, over duricrust, and about craters. The terrain to be traversed will consist of boulders, and surfaces, loose soil, and partially buried rocks. Wheeled, tracked, or legged locomotion are some of the options to be examined for the rover's primary mode of mobility. This paper will discuss the relationship of the vehicle to this terrain. In particular, what should the feet of a walking vehicle look like? Should the wheels or tracks be ribbed or channeled? As a result, other possible configurations will be looked at with respect to sinkage, slip, obstacle crossing, slope performance, and drawbar pull/weight ratio. The preliminary analysis will be key to design of the Mars mobility system and set a guideline for future concepts.

Paper Details

Date Published: 1 January 1987
PDF: 7 pages
Proc. SPIE 0852, Mobile Robots II, (1 January 1987); doi: 10.1117/12.968247
Show Author Affiliations
Wendell Chun, Martin Marietta Space Systems Company (United States)

Published in SPIE Proceedings Vol. 0852:
Mobile Robots II
Wendell H. Chun; William J. Wolfe, Editor(s)

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