Design and Performance of a Marsokhod Inspired Rover for the Robo-Ops Challenge

摘要

This paper describes the design, implementation and control strategy used by the University of Oklahoma's entry in the 2016 NIA/NASA Robot-Ops challenge. The mechanical design was inspired by the USSR's design of the Marsokhod robot designed for the 1994 Launch opportunity. The paper describes the design of the major subsystems along with the fabrication techniques used. The design, hardware and control strategies used for driving the rover and operating the sample acquisition arm are also discussed. Details of the team's winning performance are also given.