{"id":9658,"date":"2021-05-20T12:21:53","date_gmt":"2021-05-20T11:21:53","guid":{"rendered":"https:\/\/bis-space.com\/shop\/?post_type=product&#038;p=9658"},"modified":"2021-05-20T12:21:53","modified_gmt":"2021-05-20T11:21:53","slug":"mechanical-design-and-testing-of-an-instrumented-rocker-bogie-mobility-system-for-the-kapvik-micro-rover","status":"publish","type":"product","link":"https:\/\/bis-space.com\/shop\/product\/mechanical-design-and-testing-of-an-instrumented-rocker-bogie-mobility-system-for-the-kapvik-micro-rover\/","title":{"rendered":"Mechanical Design and Testing of an Instrumented Rocker-Bogie Mobility System for the Kapvik Micro-Rover"},"content":{"rendered":"","protected":false},"excerpt":{"rendered":"<h3>T. Setterfield et al. (2014),\u00a0<i>JBIS<\/i>,\u00a0<b>67<\/b>, pp.96-104<\/h3>\n<p><b>Refcode<\/b>: 2014.67.96<br \/>\n<b>Keywords<\/b>: Kapvik, Rocker-bogie, Mobility system, Planetary rover, Rover chassis<\/p>\n<p><b>Abstract:<\/b><br \/>\nThe rocker-bogie mobility system is a six-wheeled mobility system with the ability to equilibrate ground pressure amongst its wheels and traverse obstacles up to one wheel diameter in height; it has been used previously on NASA&#8217;s Sojourner, Spirit, Opportunity and Curiosity rovers. This paper presents the mechanical design of an instrumented rocker-bogie mobility system for Kapvik, a 30 kg planetary micro-rover prototype developed for the Canadian Space Agency. The design of the wheel drive system is presented, including: motor selection, gear train selection, and performance limits. The design of a differential mechanism, which minimizes the pitch angle of the rover body, is provided. Design considerations for the integration of single-axis force sensors above the wheel hubs are presented. Structural analysis of the rocker and bogie links is outlined. The cross-hill and uphill-downhill static stability of Kapvik is investigated. Load cell and joint position data from testing during obstacle negotiation and uphill operation are presented.<\/p>\n","protected":false},"featured_media":9663,"template":"","meta":{"_members_access_role":[],"_members_access_error":""},"pwb-brand":[],"product_brand":[],"product_cat":[56,59,164],"product_tag":[2759,2761,2762,2760,2763],"class_list":["post-9658","product","type-product","status-publish","has-post-thumbnail","product_cat-journal-of-the-bis","product_cat-papers","product_cat-2014papers","product_tag-kapvik","product_tag-mobility-system","product_tag-planetary-rover","product_tag-rocker-bogie","product_tag-rover-chassis","first","instock","downloadable","virtual","purchasable","product-type-simple","czr-hentry"],"jetpack_sharing_enabled":true,"brands":[],"_links":{"self":[{"href":"https:\/\/bis-space.com\/shop\/wp-json\/wp\/v2\/product\/9658","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/bis-space.com\/shop\/wp-json\/wp\/v2\/product"}],"about":[{"href":"https:\/\/bis-space.com\/shop\/wp-json\/wp\/v2\/types\/product"}],"wp:featuredmedia":[{"embeddable":true,"href":"https:\/\/bis-space.com\/shop\/wp-json\/wp\/v2\/media\/9663"}],"wp:attachment":[{"href":"https:\/\/bis-space.com\/shop\/wp-json\/wp\/v2\/media?parent=9658"}],"wp:term":[{"taxonomy":"pwb-brand","embeddable":true,"href":"https:\/\/bis-space.com\/shop\/wp-json\/wp\/v2\/pwb-brand?post=9658"},{"taxonomy":"product_brand","embeddable":true,"href":"https:\/\/bis-space.com\/shop\/wp-json\/wp\/v2\/product_brand?post=9658"},{"taxonomy":"product_cat","embeddable":true,"href":"https:\/\/bis-space.com\/shop\/wp-json\/wp\/v2\/product_cat?post=9658"},{"taxonomy":"product_tag","embeddable":true,"href":"https:\/\/bis-space.com\/shop\/wp-json\/wp\/v2\/product_tag?post=9658"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}