Design of a prototype system operant in lunar environment

In this paper, the design of a prototype system developed for a rover intended for the removal and transport of rocks on lunar soil is reported. The part of the rover dedicated to some of the main tasks, i.e. the lifting of objects and moving on rugged terrain, while controlling of the balance of the vehicle, is considered. These tasks are accomplished through the mechanical components assembled in a column connected to wheels. The study has been conducted with the aim of obtaining a simple and lightweight structure satisfying the requirements necessary to operate on the lunar soil. After a description of the architecture of the rover, the layout of the components of the column is detailed. A compliant, spiral-spring wheel is proposed to complete the mobility system. The primary components of the column are then structurally assessed by means of FEM numerical simulations. A numerical model of the wheel has also been implemented, in order to define in detail the wheel geometry and performance. The proposed layout could be promising for lunar applications since it has a configuration suitable for the specific characteristics of the environment it has to operate.