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- W1556713483 abstract "A mobile surface element is required in the frame of the ESA ExoMars mission for exploring Mars in order to investigate the environment and to search for evidence of life [1]. The mobility aspect is important in terms of range and duration and was investigated by Oerlikon Space AG and its team during the phase B1 of the ExoMars project. An important outcome of this activity is the manufacture and testing of a full scale rover breadboard. The breadboard mass was scaled down to 93.5kg in order to take into account the martian gravity. It is a 6 wheel drive, 6 wheel steered vehicle based on a three bogie suspension configuration. Despite the heavy payload and high location of the CoM, the vehicle is able to withstand a tilt of 40° in any direction without losing its stability. The passive suspension and flexible wheel design allows the traverse of obstacles with sizes of at least the wheel diameter (25 cm) on Mars representative soil. The locomotion level test activity was conducted on the Rover Chassis Evaluation Tool (RCET) ESA test facility developed by Oerlikon and located in their premises. This test facility consists of a 20 square meter testbed featuring Mars representative soil (i.e. soft sand) [2]. A novel measurement system was developed in order to reconstruct the drawbar pull capability at different slippage values. Obstacles as well as slopes were accommodated during the test and the vehicle performance measured. These values represent the key traverse-related mission requirements. The success of individual traverses as well as the energy, speeds, and trajectory errors on the overall vehicle were recorded. As a result of the testing program the team consolidates their understanding of the locomotion behavior and the effect of innovative development like flexible wheels, side grousers and the three bogies passive suspension system. The large amount of data coming from position sensors, force torque sensors and accelerometers are valuable for predicting the performance of the future flight model and to improve the accuracy of simulations tools. The paper presents the results of the extensive testing activity carried out with the ExoMars locomotion subsystem breadboard, the lesson learned and preliminary correlation exercise of the simulation tools." @default.
- W1556713483 created "2016-06-24" @default.
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- W1556713483 date "2008-01-01" @default.
- W1556713483 modified "2023-09-27" @default.
- W1556713483 title "Lesson Learned from ExoMars Locomotion System Test Campaign" @default.
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