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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
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
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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 Schemes
2
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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)
3
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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”
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
Fixed Suspension in Hilly Terrain
5
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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
6
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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)
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
Laboratory Robot (CMU)
8
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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)
9
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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
10
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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
11
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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)
12
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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
13
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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)
14
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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)
15
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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
16
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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)
17
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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
18
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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
19
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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
20
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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
21
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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
22
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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
23
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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
24
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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
25
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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)
26
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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)
27
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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
28
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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
29
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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
30
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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)
31
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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”
32
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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
33
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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
34
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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
35
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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
36
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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)
37
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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
38
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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)
39
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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
40
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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
41
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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
42
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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)
43
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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)
44
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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)
45
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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)
46
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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)
47
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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 -
48
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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
49
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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)
50
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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)
51
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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
52
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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
53
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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)
62