Indian Journal of Science and Technology

Abstract

Objectives: The study aims to identify the capabilities of the locomotion systems based on the wheel-walking propulsion as the means of improving the mobility and maneuverability of the planetary rovers. Method: Principal method of this study is represented by object-oriented modeling that helps undertake complex investigation of the object. Findings: Current importance of the study is predetermined by the intensive investigations of celestial bodies assisted by mobile robotic systems and planetary rovers that are delivered to the surface of the planet. The study considers the opportunities provided by computerized modeling for the purposes of estimating the behavior of a planetary rover in the process of overcoming such obstructions as escarp, sloping surface of hard and loose soils and sinusoidal profile of surface that imitates coarse irregularities of the relief. The locomotion system under investigation is represented by a four-wheeled platform equipped with the two-lever wheel-walking mechanisms. The algorithms have been suggested for controlling the actuator mechanisms of the locomotion systems in the course of overcoming the obstacles under consideration. Improvements: The results make it possible to evaluate qualitative and quantitative kinematic and force requirements to the drives of the locomotion systems of planetary rovers and are of practical engineering significance. 

Keywords: Control Algorithm, Locomotion System, Mobile Robot, Object-oriented Modeling, Planetary Rover, Wheel-walking Mechanism