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Steering and Suspension SystemsENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
Steering and Suspension Systems
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• Steering Systems– Skid-Steer– Differential drive– Trailer steering– Ackerman steering– Actively controlled steering (Independent/explicit)– Holonomic vs. Nonholonomic Systems
• Suspension Systems– Rigid Suspension– Independent Suspension– Articulated/Split-Body Suspension– Rocker-Bogie Configurations– Segmented-Body Rovers– Active Suspension
Steering and Suspension SystemsENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
Steering Schemes
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Steering and Suspension SystemsENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
Fixed Suspension - Electric Tractor (JSC)
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Steering and Suspension SystemsENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
ET “Suspension”
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Steering and Suspension SystemsENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
Fixed Suspension in Hilly Terrain
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Steering and Suspension SystemsENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
ATRV Skid-Steer Robots
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Steering and Suspension SystemsENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
Laboratory Robot (CMU)
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Steering and Suspension SystemsENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
Laboratory Robot (CMU)
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Steering and Suspension SystemsENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
RAVEN (UMd/ASU)
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Steering and Suspension SystemsENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
RAVEN in Mobility Testing
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Steering and Suspension SystemsENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
Tooth (JPL) - Ackerman Steering
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Steering and Suspension SystemsENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
Hyperion (CMU)
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Steering and Suspension SystemsENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
Hyperion (CMU) - Trailer Steering
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Steering and Suspension SystemsENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
Independent Suspension (Towed Vehicle)
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Steering and Suspension SystemsENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
SCOUT Astronaut Support Rover (JSC)
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Steering and Suspension SystemsENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
SCOUT Suspension and Steering
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Steering and Suspension SystemsENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
Articulating Suspension - Nomad (CMU)
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Steering and Suspension SystemsENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
Nomad Transforming Chassis
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Steering and Suspension SystemsENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
Nomad in Rough Terrain
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Steering and Suspension SystemsENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
Nomad Chassis/Steering System
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Steering and Suspension SystemsENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
Nomad with Wheels Stowed
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Steering and Suspension SystemsENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
Nomad Steering Schemes
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Steering and Suspension SystemsENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
Nomad Power in Skid and Explicit Turns
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Steering and Suspension SystemsENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
Steering Power Comparison with Fixed Loads
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Steering and Suspension SystemsENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
Nomad Wheel Torques in Skid Turn
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Steering and Suspension SystemsENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
Split-Body Rovers (Sandia Labs)
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Steering and Suspension SystemsENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
Ratler (Sandia Labs)
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Steering and Suspension SystemsENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
Rocker-Bogie - Rocky 4
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Steering and Suspension SystemsENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
Rocky 7
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Steering and Suspension SystemsENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
Sojourner
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Steering and Suspension SystemsENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
FIDO (JPL)
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Steering and Suspension SystemsENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
Mars Exploration Rover “Spirit”
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Steering and Suspension SystemsENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
MER Rocker-Bogie Configuration
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Steering and Suspension SystemsENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
Lightweight Survivable Rover Dimensions
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Steering and Suspension SystemsENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
Mars Science Laboratory Development Unit
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Steering and Suspension SystemsENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
MSL Engineering Development Unit
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Steering and Suspension SystemsENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
K-Rex Rover (CMU for NASA Ames)
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Steering and Suspension SystemsENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
K-Rex Wheel Drive/Steering System
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Steering and Suspension SystemsENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
Lunar X-Prize (CMU)
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Steering and Suspension SystemsENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
Articulated Bogey Configuration
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Steering and Suspension SystemsENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
Segmented Body - Marsokhod
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Steering and Suspension SystemsENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
Marsokhod Chassis
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Steering and Suspension SystemsENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
Robby (JPL)
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Steering and Suspension SystemsENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
Go-For (JPL)
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Steering and Suspension SystemsENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
SCARAB (CMU)
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Steering and Suspension SystemsENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
Scarab Wheel Articulation (CMU)
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Steering and Suspension SystemsENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
SCARAB at Full Extension (CMU)
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Steering and Suspension SystemsENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
Mars Rover (VNIITransmash -
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Steering and Suspension SystemsENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
Apollo Lunar Roving Vehicle
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Steering and Suspension SystemsENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
SCOUT Rover (JSC)
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Steering and Suspension SystemsENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
Electric Tractor and Chariot (JSC)
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Steering and Suspension SystemsENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
Active Suspension - Chariot
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Steering and Suspension SystemsENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
Chariot B Climbs a Boulder Field
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Steering and Suspension SystemsENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
RAVEN in Field Trials
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Steering and Suspension SystemsENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
SEV Driving Onto ~20° Slope
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Steering and Suspension SystemsENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
SEV on ~20° Slope
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Steering and Suspension SystemsENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
SEV Dual Bogie Soil Contact
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Steering and Suspension SystemsENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
ATHLETE (JPL)
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Steering and Suspension SystemsENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
Centaur with Robonaut (JSC)
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Steering and Suspension SystemsENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
Centaur Body Pose and Turning
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Steering and Suspension SystemsENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
Palm Pilot Robot (CMU)(Holonomic)
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Steering and Suspension SystemsENAE 788X - Planetary Surface Robotics
U N I V E R S I T Y O FMARYLAND
Tessellator (CMU) (Holonomic)
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