Revision 1: S22 - Present

About

The goal with designing this rocker-bogie drivetrain is to create a system that passively overcomes rock and boulder fields, soft sandy areas, and steep slopes while keeping as many wheels in contact with the ground as possible. This improves the rover's stability during traversal. In addition, this style of drive provides the rover with more traction while scaling obstacles.

Revision 1 of the design features the following...

• Balloon tires to dampen vibrations and cushion the system from shock
• 6 brushless DC motors each integrated into a 35:1 ratio VersaPlanetary gearbox, in a direct transmission with the wheel
• Motor & gearbox integration into the balloon tires to protect them from the elements
• Differential bar on the underside of the chassis as to not interfere with the upper assembly
• An aluminum frame, due to lack of access to carbon fibre at the time

Diagram

Assembled

Bill of Materials

• each subsystem, motors and encoders used

Known Issues

Unresolved vs Resolved

To do

• WEIGH ROVER
• Buy carbon fibre from composites Canada? Check on stock?