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

Photos

• Important note: the mounting plate shown in the image above is only used for mounting the arm. That plate will come off entirely to mount the science mechanism

Bill of Materials

Uploaded on May 9th, 2022

• Note: fasteners listed in BOM were often replaced with equivalent ones sold at the EMS store, unless they were specialty

Important OTS items

• Nanotec brushless DC motors (DB59L048035-A), QTY: 6
  • With a keyway shaft modification. Configured before purchase
• RLS shaftless, incremental encoder (RMC22UH12BAA10)
  • Paired with magnet RMA03A2A07 glued on to the back of the motor
• Versaplanetary with 1/2" round output base kit(217-4975), QTY: 6
• Wheeleez, 11.8" OD, 3.4" ID (wz1-30ua), QTY: 6