Study on a Suspension of a Planetary Exploration Rover to Improve Driving Performance During Overcoming Obstacles

Eom, Wesub; Kim, Youn-Kyu; Choi, Gi-Hyuk; Sim, Eun-Sup

doi:10.5140/jass.2012.29.4.381

Cited by 8 publications

(7 citation statements)

References 4 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Planetary exploration, which has been given high priority and heavy financial investment by most of the world's countries, is an important aspect of space science [1]- [3]. Robotic rovers act as actuators and carriers of scientific instruments for planetary exploration missions [4].…”

Section: Introductionmentioning

confidence: 99%

A novel sandwich-type traveling wave piezoelectric tracked mobile system

et al. 2017

View full text Add to dashboard Cite

In this paper, a novel sandwich-type traveling wave piezoelectric tracked mobile system was proposed, designed, fabricated and experimentally investigated. The proposed system exhibits the advantages of simple structure, high mechanical integration, lack of electromagnetic interference, and lack of lubrication requirement, and hence shows potential application to robotic rovers for planetary exploration. The tracked mobile system is comprised of a sandwich actuating mechanism and a metal track. The actuating mechanism includes a sandwich piezoelectric transducer and two annular parts symmetrically placed at either end of the transducer, while the metal track is tensioned along the outer surfaces of the annular parts. Traveling waves with the same rotational direction are generated in the two annular parts, producing the microscopic elliptical motions of the surface particles on the annular parts. In this situation, if the pre-load is applied properly, the metal track can be driven by friction force to achieve bidirectional movement. At first, the finite element method was adopted to conduct the modal analysis and harmonic response analysis of the actuating mechanism, and the vibration characteristics were measured to confirm the operating principle. Then the optimal driving frequency of the system prototype, namely 35.1kHz, was measured by frequency sensitivity experiments. At last, the mechanical motion characteristics of the prototype were investigated experimentally. The results show that the average motion speeds of the prototype in dual directions were as 72mm/s and 61.5mm/s under the excitation voltage of 500V, respectively. The optimal loading weights of the prototype in bi-directions were 0.32kg and 0.24kg with a maximum speed of 59.5mm/s and 61.67mm/s at the driving voltage of 300V, respectively.

show abstract

Section: Introductionmentioning

confidence: 99%

A novel sandwich-type traveling wave piezoelectric tracked mobile system

et al. 2017

View full text Add to dashboard Cite

show abstract

“…Therefore, the Korean aeronautical and space science community has performed numerous related mission studies. Several preliminary design studies have already been conducted, such as an transfer trajectory analysis (Song et al 2009(Song et al , 2011Woo et al 2010), contact schedule analysis (Song et al 2013(Song et al , 2014, rover system design (Kim et al 2009, Eom et al 2012.…”

Section: Introductionmentioning

confidence: 99%

Evaluating High-Degree-and-Order Gravitational Harmonics and its Application to the State Predictions of a Lunar Orbiting Satellite

Song

Kim²

2015

Journal of Astronomy and Space Sciences

View full text Add to dashboard Cite

In this work, an efficient method with which to evaluate the high-degree-and-order gravitational harmonics of the nonsphericity of a central body is described and applied to state predictions of a lunar orbiter. Unlike the work of Song et al. (2010), which used a conventional computation method to process gravitational harmonic coefficients, the current work adapted a well-known recursion formula that directly uses fully normalized associated Legendre functions to compute the acceleration due to the non-sphericity of the moon. With the formulated algorithms, the states of a lunar orbiting satellite are predicted and its performance is validated in comparisons with solutions obtained from STK/Astrogator. The predicted differences in the orbital states between STK/Astrogator and the current work all remain at a position of less than 1 m with velocity accuracy levels of less than 1 mm/s, even with different orbital inclinations. The effectiveness of the current algorithm, in terms of both the computation time and the degree of accuracy degradation, is also shown in comparisons with results obtained from earlier work. It is expected that the proposed algorithm can be used as a foundation for the development of an operational flight dynamics subsystem for future lunar exploration missions by Korea. It can also be used to analyze missions which require very close operations to the moon.

show abstract

“…Therefore, the Korean aeronautical and space science community has performed numerous related mission studies, and the Korea Aerospace Research Institute (KARI) is performing pre-phase work for the lunar mission. Several preliminary design studies have already been conducted, such as an optimal transfer trajectory analysis [7][8][9][10][11][12][13][14][15][16], mapping orbit analysis [17], landing trajectory analysis [18,19], contact schedule analysis [20,21], link budget analysis [22][23][24], lander/rover system design [25][26][27][28][29], and candidate payload design analysis [30]. Before 2020, the first Korean lunar pathfinder orbiter mission is scheduled for launch around 2017 with international collaboration.…”

Section: Introductionmentioning

confidence: 99%

Lunar CubeSat Impact Trajectory Characteristics as a Function of Its Release Conditions

Song

Jin

Garick-Bethell

2015

Mathematical Problems in Engineering

View full text Add to dashboard Cite

As a part of early system design activities, trajectory characteristics for a lunar CubeSat impactor mission as a function of its release conditions are analyzed. The goal of this mission is to take measurements of surface magnetic fields to study lunar magnetic anomalies. To deploy the CubeSat impactor, a mother-ship is assumed to have a circular polar orbit with inclination of 90 degrees at a 100 km altitude at the Moon. Both the in- and out-of-plane direction deploy angles as well as delta-Vmagnitudes are considered for the CubeSat release conditions. All necessary parameters required at the early design phase are analyzed, including CubeSat flight time to reach the lunar surface, impact velocity, cross ranges distance, and associated impact angles, which are all directly affected by the CubeSat release conditions. Also, relative motions between these two satellites are analyzed for communication and navigation purposes. Although the current analysis is only focused on a lunar impactor mission, the methods described in this work can easily be modified and applied to any future planetary impactor missions with CubeSat-based payloads.

show abstract

Study on a Suspension of a Planetary Exploration Rover to Improve Driving Performance During Overcoming Obstacles

Cited by 8 publications

References 4 publications

A novel sandwich-type traveling wave piezoelectric tracked mobile system

A novel sandwich-type traveling wave piezoelectric tracked mobile system

Evaluating High-Degree-and-Order Gravitational Harmonics and its Application to the State Predictions of a Lunar Orbiting Satellite

Lunar CubeSat Impact Trajectory Characteristics as a Function of Its Release Conditions

Contact Info

Product

Resources

About