Steering and Suspension Systems - University Of...
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Steering and Suspension Systems ENAE 788X - Planetary Surface Robotics U N I V E R S I T Y O F MARYLAND Steering and Suspension Systems 1 • 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
Transcript of Steering and Suspension Systems - University Of...
Steering and Suspension Systems ENAE 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 Systems ENAE 788X - Planetary Surface Robotics
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Steering Schemes
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Fixed Suspension - Electric Tractor (JSC)
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ET “Suspension”
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Fixed Suspension in Hilly Terrain
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ATRV Skid-Steer Robots
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Laboratory Robot (CMU)
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Laboratory Robot (CMU)
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RAVEN (UMd/ASU)
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RAVEN in Mobility Testing
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Tooth (JPL) - Ackerman Steering
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Hyperion (CMU)
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Hyperion (CMU) - Trailer Steering
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Independent Suspension (Towed Vehicle)
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SCOUT Astronaut Support Rover (JSC)
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SCOUT Suspension and Steering
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Articulating Suspension - Nomad (CMU)
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Nomad Transforming Chassis
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Nomad in Rough Terrain
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Nomad Chassis/Steering System
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Nomad with Wheels Stowed
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Nomad Steering Schemes
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Nomad Power in Skid and Explicit Turns
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Steering Power Comparison with Fixed Loads
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Nomad Wheel Torques in Skid Turn
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Split-Body Rovers (Sandia Labs)
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Ratler (Sandia Labs)
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Rocker-Bogie - Rocky 4
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Rocky 7
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Sojourner
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FIDO (JPL)
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Mars Exploration Rover “Spirit”
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MER Rocker-Bogie Configuration
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Lightweight Survivable Rover Dimensions
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Mars Science Laboratory Development Unit
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MSL Engineering Development Unit
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K-Rex Rover (CMU for NASA Ames)
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K-Rex Wheel Drive/Steering System
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Revised K-Rex Rover (NASA Ames)
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K-Rex Differential Bar
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K-Rex Steering Demonstration
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K-Rex Obstacle Handling Demo
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Lunar X-Prize (CMU)
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Articulated Bogey Configuration
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Segmented Body - Marsokhod
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Marsokhod Chassis
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Robby (JPL)
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Go-For (JPL)
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SCARAB (CMU)
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Scarab Wheel Articulation (CMU)
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SCARAB at Full Extension (CMU)
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Mars Rover (VNIITransmash -
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Apollo Lunar Roving Vehicle
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SCOUT Rover (JSC)
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Electric Tractor and Chariot (JSC)
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Active Suspension - Chariot
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Chariot B Climbs a Boulder Field
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SEV Driving Onto ~20° Slope
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SEV on ~20° Slope
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SEV Dual Bogie Soil Contact
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ATHLETE (JPL)
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Centaur with Robonaut (JSC)
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Centaur Body Pose and Turning
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Palm Pilot Robot (CMU)(Holonomic)
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Tessellator (CMU) (Holonomic)
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