Authors M.I. Malenkov, A.N. Bogachev, V.A. Volov, N.K. Guseva, A,G. Konkolovich, D.N. Kuzmenko, V.M. Kurdzyuk, E.A. Lazarev, А.B. Fedorushkov, D.B. Fedorushkov
Month, Year 01-02, 2017 @en
Index UDC 629.33.03-83
Abstract The paper presents the major results of the execution of the applied scientific researches “The elaboration of the scientific-technical solutions in the area of the development of the robotic systems (RS) of the space designation to support the on-planet missions. The researches and developments in the priority directions of the development of the Russian scientific&technical complex for the period 2014-2020”. A special emphasis is placed on the improvements of the design&layout solutions implemented in the key systems of the new generation planet rovers, that determine the area and geomorphological properties of the territories that are accessible for the scientific researches and the efficiency of the supporting the human activities on the celestial body surfaces. The accessibility of the investigated surfaces of the Moon and Mars for the automatic and remote control modes is directly dependent on the characteristics of the locomotion and navigation systems. The on-board manipulating system also influences the functional capabilities of a robotic system. In order to compare the technical level of new design solutions, the US Mars rovers ”Opportunity” and “Curiosity”, which are currently in operation, are chosen. These rovers set very high performance marks for the operational lifetime and the quality and reliability of the on-board systems; they are the ones of the best specimens in the mobile robotics. However, in regard of the traversability, the performances of the Mars rovers are far from being optimal. There are also certain reserves to considerably increase the mobility, which generalized parameter is the time, spent to relocate a rover from one research region to another. The increase of the mobility is bound not only to traversability increase, but it also requires to equalize the capabilities of forward and backward locomotion regarding the quality of the navigation task solutions. It is necessary to conduct the continuous check of the covered route and wheel slippage coefficient, to use the contact methods to determine the soil strength along the locomotion path. The result of the applied scientific research is the development of the design and layout solutions made in a form of a 3D model of the Robotic System “Astronaut Assistant”. This development is based on Russian scientific and technical background.

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Keywords Locomotion system; navigation system; machine vision; manipulation system; wheel-walking propulsor; active suspension; walking mechanism; container; planetary rovers.
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