Mars Rover Prototype Merih-2

JOURNAL OF POLYTECHNIC-POLITEKNIK DERGISI(2018)

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摘要
Merih-2 is designed to serve under the Mars conditions and to join the University Rover Challenge 2016 and the European Rover Challenge 2016 by the Ozyegin University Rover Team. For locomotion, the Merih-2 has 6 specially designed wheels. All wheels are driven by electric motors for high traction. The steering of the rover is provided by changing the directions of the front and rear wheels together. A Rocker-Bogie Mechanism that allows at least four wheels to keep ground contact, and a differential that assumes the task of balancing this mechanism is used. Merih-2 also has a 4-degree-of-freedom robot arm for manipulating objects in the surroundings. This robotic arm is equipped with a multifunctional holder and is intended to assist astronauts in tasks such as tool retrieval, turning on and off of switches. This article describes the design details of Merih-2 and the gains from the prototype produce. Moreover, the article focuses on the test results that are obtained at ERC 2016 and discusses the roadmap for a better prototype.
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关键词
Planetary rovers, field robots, mechanical robot design
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