Saved in:
| Main Authors: | , , , , , , , , |
|---|---|
| Format: | Preprint |
| Published: |
2025
|
| Subjects: | |
| Online Access: | https://arxiv.org/abs/2510.05981 |
| Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
| _version_ | 1866915536579854336 |
|---|---|
| author | Luna, Cristina Guerra, Alba Moreno, Almudena Esquer, Manuel Roa, Willy Krawczak, Mateusz Popela, Robert Osica, Piotr Nicolis, Davide |
| author_facet | Luna, Cristina Guerra, Alba Moreno, Almudena Esquer, Manuel Roa, Willy Krawczak, Mateusz Popela, Robert Osica, Piotr Nicolis, Davide |
| contents | Planetary exploration missions require robust locomotion systems capable of operating in extreme environments over extended periods. This paper presents the DISTANT (Distant Transmission and Steering Systems) design, a novel approach for relocating rover traction and steering actuators from wheel-mounted positions to a thermally protected warm box within the rover body. The design addresses critical challenges in long-distance traversal missions by protecting sensitive components from thermal cycling, dust contamination, and mechanical wear. A double wishbone suspension configuration with cardan joints and capstan drive steering has been selected as the optimal architecture following comprehensive trade-off analysis. The system enables independent wheel traction, steering control, and suspension management whilst maintaining all motorisation within the protected environment. The design meets a 50 km traverse requirement without performance degradation, with integrated dust protection mechanisms and thermal management solutions. Testing and validation activities are planned for Q1 2026 following breadboard manufacturing at 1:3 scale. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2510_05981 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | The DISTANT Design for Remote Transmission and Steering Systems for Planetary Robotics Luna, Cristina Guerra, Alba Moreno, Almudena Esquer, Manuel Roa, Willy Krawczak, Mateusz Popela, Robert Osica, Piotr Nicolis, Davide Robotics Planetary exploration missions require robust locomotion systems capable of operating in extreme environments over extended periods. This paper presents the DISTANT (Distant Transmission and Steering Systems) design, a novel approach for relocating rover traction and steering actuators from wheel-mounted positions to a thermally protected warm box within the rover body. The design addresses critical challenges in long-distance traversal missions by protecting sensitive components from thermal cycling, dust contamination, and mechanical wear. A double wishbone suspension configuration with cardan joints and capstan drive steering has been selected as the optimal architecture following comprehensive trade-off analysis. The system enables independent wheel traction, steering control, and suspension management whilst maintaining all motorisation within the protected environment. The design meets a 50 km traverse requirement without performance degradation, with integrated dust protection mechanisms and thermal management solutions. Testing and validation activities are planned for Q1 2026 following breadboard manufacturing at 1:3 scale. |
| title | The DISTANT Design for Remote Transmission and Steering Systems for Planetary Robotics |
| topic | Robotics |
| url | https://arxiv.org/abs/2510.05981 |