Steering and Suspension Systems
Steering and Suspension Systems
Steering and Suspension Systems
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<strong>Steering</strong> <strong>and</strong> <strong>Suspension</strong> <strong>Systems</strong><br />
• <strong>Steering</strong> <strong>Systems</strong><br />
– Skid-Steer<br />
– Differential drive<br />
– Trailer steering<br />
– Ackerman steering<br />
– Actively controlled steering (Independent/explicit)<br />
– Holonomic vs. Nonholonomic <strong>Systems</strong><br />
• <strong>Suspension</strong> <strong>Systems</strong><br />
– Rigid <strong>Suspension</strong><br />
– Independent <strong>Suspension</strong><br />
– Articulated/Split-Body <strong>Suspension</strong><br />
– Rocker-Bogie Configurations<br />
– Segmented-Body Rovers<br />
– Active <strong>Suspension</strong><br />
U N I V E R S I T Y O F<br />
MARYLAND<br />
1<br />
<strong>Steering</strong> <strong>and</strong> <strong>Suspension</strong> <strong>Systems</strong><br />
ENAE 788X - Planetary Surface Robotics
<strong>Steering</strong> Schemes<br />
U N I V E R S I T Y O F<br />
MARYLAND<br />
2<br />
<strong>Steering</strong> <strong>and</strong> <strong>Suspension</strong> <strong>Systems</strong><br />
ENAE 788X - Planetary Surface Robotics
Fixed <strong>Suspension</strong> - Electric Tractor (JSC)<br />
U N I V E R S I T Y O F<br />
MARYLAND<br />
3<br />
<strong>Steering</strong> <strong>and</strong> <strong>Suspension</strong> <strong>Systems</strong><br />
ENAE 788X - Planetary Surface Robotics
ET “<strong>Suspension</strong>”<br />
U N I V E R S I T Y O F<br />
MARYLAND<br />
4<br />
<strong>Steering</strong> <strong>and</strong> <strong>Suspension</strong> <strong>Systems</strong><br />
ENAE 788X - Planetary Surface Robotics
Fixed <strong>Suspension</strong> in Hilly Terrain<br />
U N I V E R S I T Y O F<br />
MARYLAND<br />
5<br />
<strong>Steering</strong> <strong>and</strong> <strong>Suspension</strong> <strong>Systems</strong><br />
ENAE 788X - Planetary Surface Robotics
ATRV Skid-Steer Robots<br />
U N I V E R S I T Y O F<br />
MARYLAND<br />
6<br />
<strong>Steering</strong> <strong>and</strong> <strong>Suspension</strong> <strong>Systems</strong><br />
ENAE 788X - Planetary Surface Robotics
Laboratory Robot (CMU)<br />
U N I V E R S I T Y O F<br />
MARYLAND<br />
7<br />
<strong>Steering</strong> <strong>and</strong> <strong>Suspension</strong> <strong>Systems</strong><br />
ENAE 788X - Planetary Surface Robotics
Laboratory Robot (CMU)<br />
U N I V E R S I T Y O F<br />
MARYLAND<br />
8<br />
<strong>Steering</strong> <strong>and</strong> <strong>Suspension</strong> <strong>Systems</strong><br />
ENAE 788X - Planetary Surface Robotics
RAVEN (UMd/ASU)<br />
U N I V E R S I T Y O F<br />
MARYLAND<br />
9<br />
<strong>Steering</strong> <strong>and</strong> <strong>Suspension</strong> <strong>Systems</strong><br />
ENAE 788X - Planetary Surface Robotics
RAVEN in Mobility Testing<br />
U N I V E R S I T Y O F<br />
MARYLAND<br />
10<br />
<strong>Steering</strong> <strong>and</strong> <strong>Suspension</strong> <strong>Systems</strong><br />
ENAE 788X - Planetary Surface Robotics
Tooth (JPL) - Ackerman <strong>Steering</strong><br />
U N I V E R S I T Y O F<br />
MARYLAND<br />
11<br />
<strong>Steering</strong> <strong>and</strong> <strong>Suspension</strong> <strong>Systems</strong><br />
ENAE 788X - Planetary Surface Robotics
Hyperion (CMU)<br />
U N I V E R S I T Y O F<br />
MARYLAND<br />
12<br />
<strong>Steering</strong> <strong>and</strong> <strong>Suspension</strong> <strong>Systems</strong><br />
ENAE 788X - Planetary Surface Robotics
Hyperion (CMU) - Trailer <strong>Steering</strong><br />
U N I V E R S I T Y O F<br />
MARYLAND<br />
13<br />
<strong>Steering</strong> <strong>and</strong> <strong>Suspension</strong> <strong>Systems</strong><br />
ENAE 788X - Planetary Surface Robotics
Independent <strong>Suspension</strong> (Towed Vehicle)<br />
U N I V E R S I T Y O F<br />
MARYLAND<br />
14<br />
<strong>Steering</strong> <strong>and</strong> <strong>Suspension</strong> <strong>Systems</strong><br />
ENAE 788X - Planetary Surface Robotics
SCOUT Astronaut Support Rover (JSC)<br />
U N I V E R S I T Y O F<br />
MARYLAND<br />
15<br />
<strong>Steering</strong> <strong>and</strong> <strong>Suspension</strong> <strong>Systems</strong><br />
ENAE 788X - Planetary Surface Robotics
SCOUT <strong>Suspension</strong> <strong>and</strong> <strong>Steering</strong><br />
U N I V E R S I T Y O F<br />
MARYLAND<br />
16<br />
<strong>Steering</strong> <strong>and</strong> <strong>Suspension</strong> <strong>Systems</strong><br />
ENAE 788X - Planetary Surface Robotics
Articulating <strong>Suspension</strong> - Nomad (CMU)<br />
U N I V E R S I T Y O F<br />
MARYLAND<br />
17<br />
<strong>Steering</strong> <strong>and</strong> <strong>Suspension</strong> <strong>Systems</strong><br />
ENAE 788X - Planetary Surface Robotics
Nomad Transforming Chassis<br />
U N I V E R S I T Y O F<br />
MARYLAND<br />
18<br />
<strong>Steering</strong> <strong>and</strong> <strong>Suspension</strong> <strong>Systems</strong><br />
ENAE 788X - Planetary Surface Robotics
Nomad in Rough Terrain<br />
U N I V E R S I T Y O F<br />
MARYLAND<br />
19<br />
<strong>Steering</strong> <strong>and</strong> <strong>Suspension</strong> <strong>Systems</strong><br />
ENAE 788X - Planetary Surface Robotics
Nomad Chassis/<strong>Steering</strong> System<br />
U N I V E R S I T Y O F<br />
MARYLAND<br />
20<br />
<strong>Steering</strong> <strong>and</strong> <strong>Suspension</strong> <strong>Systems</strong><br />
ENAE 788X - Planetary Surface Robotics
Nomad with Wheels Stowed<br />
U N I V E R S I T Y O F<br />
MARYLAND<br />
21<br />
<strong>Steering</strong> <strong>and</strong> <strong>Suspension</strong> <strong>Systems</strong><br />
ENAE 788X - Planetary Surface Robotics
Nomad <strong>Steering</strong> Schemes<br />
U N I V E R S I T Y O F<br />
MARYLAND<br />
22<br />
<strong>Steering</strong> <strong>and</strong> <strong>Suspension</strong> <strong>Systems</strong><br />
ENAE 788X - Planetary Surface Robotics
Nomad Power in Skid <strong>and</strong> Explicit Turns<br />
U N I V E R S I T Y O F<br />
MARYLAND<br />
23<br />
<strong>Steering</strong> <strong>and</strong> <strong>Suspension</strong> <strong>Systems</strong><br />
ENAE 788X - Planetary Surface Robotics
<strong>Steering</strong> Power Comparison with Fixed Loads<br />
U N I V E R S I T Y O F<br />
MARYLAND<br />
24<br />
<strong>Steering</strong> <strong>and</strong> <strong>Suspension</strong> <strong>Systems</strong><br />
ENAE 788X - Planetary Surface Robotics
Nomad Wheel Torques in Skid Turn<br />
U N I V E R S I T Y O F<br />
MARYLAND<br />
25<br />
<strong>Steering</strong> <strong>and</strong> <strong>Suspension</strong> <strong>Systems</strong><br />
ENAE 788X - Planetary Surface Robotics
Split-Body Rovers (S<strong>and</strong>ia Labs)<br />
U N I V E R S I T Y O F<br />
MARYLAND<br />
26<br />
<strong>Steering</strong> <strong>and</strong> <strong>Suspension</strong> <strong>Systems</strong><br />
ENAE 788X - Planetary Surface Robotics
Ratler (S<strong>and</strong>ia Labs)<br />
U N I V E R S I T Y O F<br />
MARYLAND<br />
27<br />
<strong>Steering</strong> <strong>and</strong> <strong>Suspension</strong> <strong>Systems</strong><br />
ENAE 788X - Planetary Surface Robotics
Rocker-Bogie - Rocky 4<br />
U N I V E R S I T Y O F<br />
MARYLAND<br />
28<br />
<strong>Steering</strong> <strong>and</strong> <strong>Suspension</strong> <strong>Systems</strong><br />
ENAE 788X - Planetary Surface Robotics
Rocky 7<br />
U N I V E R S I T Y O F<br />
MARYLAND<br />
29<br />
<strong>Steering</strong> <strong>and</strong> <strong>Suspension</strong> <strong>Systems</strong><br />
ENAE 788X - Planetary Surface Robotics
Sojourner<br />
U N I V E R S I T Y O F<br />
MARYLAND<br />
30<br />
<strong>Steering</strong> <strong>and</strong> <strong>Suspension</strong> <strong>Systems</strong><br />
ENAE 788X - Planetary Surface Robotics
FIDO (JPL)<br />
U N I V E R S I T Y O F<br />
MARYLAND<br />
31<br />
<strong>Steering</strong> <strong>and</strong> <strong>Suspension</strong> <strong>Systems</strong><br />
ENAE 788X - Planetary Surface Robotics
Mars Exploration Rover “Spirit”<br />
U N I V E R S I T Y O F<br />
MARYLAND<br />
32<br />
<strong>Steering</strong> <strong>and</strong> <strong>Suspension</strong> <strong>Systems</strong><br />
ENAE 788X - Planetary Surface Robotics
MER Rocker-Bogie Configuration<br />
U N I V E R S I T Y O F<br />
MARYLAND<br />
33<br />
<strong>Steering</strong> <strong>and</strong> <strong>Suspension</strong> <strong>Systems</strong><br />
ENAE 788X - Planetary Surface Robotics
Lightweight Survivable Rover Dimensions<br />
U N I V E R S I T Y O F<br />
MARYLAND<br />
34<br />
<strong>Steering</strong> <strong>and</strong> <strong>Suspension</strong> <strong>Systems</strong><br />
ENAE 788X - Planetary Surface Robotics
Mars Science Laboratory Development Unit<br />
U N I V E R S I T Y O F<br />
MARYLAND<br />
35<br />
<strong>Steering</strong> <strong>and</strong> <strong>Suspension</strong> <strong>Systems</strong><br />
ENAE 788X - Planetary Surface Robotics
MSL Engineering Development Unit<br />
U N I V E R S I T Y O F<br />
MARYLAND<br />
36<br />
<strong>Steering</strong> <strong>and</strong> <strong>Suspension</strong> <strong>Systems</strong><br />
ENAE 788X - Planetary Surface Robotics
K-Rex Rover (CMU for NASA Ames)<br />
U N I V E R S I T Y O F<br />
MARYLAND<br />
37<br />
<strong>Steering</strong> <strong>and</strong> <strong>Suspension</strong> <strong>Systems</strong><br />
ENAE 788X - Planetary Surface Robotics
K-Rex Wheel Drive/<strong>Steering</strong> System<br />
U N I V E R S I T Y O F<br />
MARYLAND<br />
38<br />
<strong>Steering</strong> <strong>and</strong> <strong>Suspension</strong> <strong>Systems</strong><br />
ENAE 788X - Planetary Surface Robotics
Lunar X-Prize (CMU)<br />
U N I V E R S I T Y O F<br />
MARYLAND<br />
39<br />
<strong>Steering</strong> <strong>and</strong> <strong>Suspension</strong> <strong>Systems</strong><br />
ENAE 788X - Planetary Surface Robotics
Articulated Bogey Configuration<br />
U N I V E R S I T Y O F<br />
MARYLAND<br />
40<br />
<strong>Steering</strong> <strong>and</strong> <strong>Suspension</strong> <strong>Systems</strong><br />
ENAE 788X - Planetary Surface Robotics
Segmented Body - Marsokhod<br />
U N I V E R S I T Y O F<br />
MARYLAND<br />
41<br />
<strong>Steering</strong> <strong>and</strong> <strong>Suspension</strong> <strong>Systems</strong><br />
ENAE 788X - Planetary Surface Robotics
Marsokhod Chassis<br />
U N I V E R S I T Y O F<br />
MARYLAND<br />
42<br />
<strong>Steering</strong> <strong>and</strong> <strong>Suspension</strong> <strong>Systems</strong><br />
ENAE 788X - Planetary Surface Robotics
Robby (JPL)<br />
U N I V E R S I T Y O F<br />
MARYLAND<br />
43<br />
<strong>Steering</strong> <strong>and</strong> <strong>Suspension</strong> <strong>Systems</strong><br />
ENAE 788X - Planetary Surface Robotics
Go-For (JPL)<br />
U N I V E R S I T Y O F<br />
MARYLAND<br />
44<br />
<strong>Steering</strong> <strong>and</strong> <strong>Suspension</strong> <strong>Systems</strong><br />
ENAE 788X - Planetary Surface Robotics
SCARAB (CMU)<br />
U N I V E R S I T Y O F<br />
MARYLAND<br />
45<br />
<strong>Steering</strong> <strong>and</strong> <strong>Suspension</strong> <strong>Systems</strong><br />
ENAE 788X - Planetary Surface Robotics
Scarab Wheel Articulation (CMU)<br />
U N I V E R S I T Y O F<br />
MARYLAND<br />
46<br />
<strong>Steering</strong> <strong>and</strong> <strong>Suspension</strong> <strong>Systems</strong><br />
ENAE 788X - Planetary Surface Robotics
SCARAB at Full Extension (CMU)<br />
U N I V E R S I T Y O F<br />
MARYLAND<br />
47<br />
<strong>Steering</strong> <strong>and</strong> <strong>Suspension</strong> <strong>Systems</strong><br />
ENAE 788X - Planetary Surface Robotics
Mars Rover (VNIITransmash -<br />
U N I V E R S I T Y O F<br />
MARYLAND<br />
48<br />
<strong>Steering</strong> <strong>and</strong> <strong>Suspension</strong> <strong>Systems</strong><br />
ENAE 788X - Planetary Surface Robotics
Apollo Lunar Roving Vehicle<br />
U N I V E R S I T Y O F<br />
MARYLAND<br />
49<br />
<strong>Steering</strong> <strong>and</strong> <strong>Suspension</strong> <strong>Systems</strong><br />
ENAE 788X - Planetary Surface Robotics
SCOUT Rover (JSC)<br />
U N I V E R S I T Y O F<br />
MARYLAND<br />
50<br />
<strong>Steering</strong> <strong>and</strong> <strong>Suspension</strong> <strong>Systems</strong><br />
ENAE 788X - Planetary Surface Robotics
Electric Tractor <strong>and</strong> Chariot (JSC)<br />
U N I V E R S I T Y O F<br />
MARYLAND<br />
51<br />
<strong>Steering</strong> <strong>and</strong> <strong>Suspension</strong> <strong>Systems</strong><br />
ENAE 788X - Planetary Surface Robotics
Active <strong>Suspension</strong> - Chariot<br />
U N I V E R S I T Y O F<br />
MARYLAND<br />
52<br />
<strong>Steering</strong> <strong>and</strong> <strong>Suspension</strong> <strong>Systems</strong><br />
ENAE 788X - Planetary Surface Robotics
Chariot B Climbs a Boulder Field<br />
U N I V E R S I T Y O F<br />
MARYLAND<br />
53<br />
<strong>Steering</strong> <strong>and</strong> <strong>Suspension</strong> <strong>Systems</strong><br />
ENAE 788X - Planetary Surface Robotics
RAVEN in Field Trials<br />
U N I V E R S I T Y O F<br />
MARYLAND<br />
54<br />
<strong>Steering</strong> <strong>and</strong> <strong>Suspension</strong> <strong>Systems</strong><br />
ENAE 788X - Planetary Surface Robotics
SEV Driving Onto ~20° Slope<br />
U N I V E R S I T Y O F<br />
MARYLAND<br />
55<br />
<strong>Steering</strong> <strong>and</strong> <strong>Suspension</strong> <strong>Systems</strong><br />
ENAE 788X - Planetary Surface Robotics
SEV on ~20° Slope<br />
U N I V E R S I T Y O F<br />
MARYLAND<br />
56<br />
<strong>Steering</strong> <strong>and</strong> <strong>Suspension</strong> <strong>Systems</strong><br />
ENAE 788X - Planetary Surface Robotics
SEV Dual Bogie Soil Contact<br />
U N I V E R S I T Y O F<br />
MARYLAND<br />
57<br />
<strong>Steering</strong> <strong>and</strong> <strong>Suspension</strong> <strong>Systems</strong><br />
ENAE 788X - Planetary Surface Robotics
ATHLETE (JPL)<br />
U N I V E R S I T Y O F<br />
MARYLAND<br />
58<br />
<strong>Steering</strong> <strong>and</strong> <strong>Suspension</strong> <strong>Systems</strong><br />
ENAE 788X - Planetary Surface Robotics
Centaur with Robonaut (JSC)<br />
U N I V E R S I T Y O F<br />
MARYLAND<br />
59<br />
<strong>Steering</strong> <strong>and</strong> <strong>Suspension</strong> <strong>Systems</strong><br />
ENAE 788X - Planetary Surface Robotics
Centaur Body Pose <strong>and</strong> Turning<br />
U N I V E R S I T Y O F<br />
MARYLAND<br />
60<br />
<strong>Steering</strong> <strong>and</strong> <strong>Suspension</strong> <strong>Systems</strong><br />
ENAE 788X - Planetary Surface Robotics
Palm Pilot Robot (CMU)(Holonomic)<br />
U N I V E R S I T Y O F<br />
MARYLAND<br />
61<br />
<strong>Steering</strong> <strong>and</strong> <strong>Suspension</strong> <strong>Systems</strong><br />
ENAE 788X - Planetary Surface Robotics
Tessellator (CMU) (Holonomic)<br />
U N I V E R S I T Y O F<br />
MARYLAND<br />
62<br />
<strong>Steering</strong> <strong>and</strong> <strong>Suspension</strong> <strong>Systems</strong><br />
ENAE 788X - Planetary Surface Robotics
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