Mechanical design and basic experiments for arm equipped single wheel rover

摘要

We developped a new type of planetary rover, "arm equipped single wheel rover". This single wheel rover has an arm which sustain reaction moment generated by the propulsive motion, so it can move around the ground with high mobility. The rover can be transformed into a "manipulator mode", and the arm acts as pseudo-5dof manipulator.. We also made basic experiments on the mechanism of the arm equipped single wheel rover.