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Axel rover paddle wheel design, efficiency, and sinkage on deformable terrain

Abad-Manterola, Pablo and Burdick, Joel W. and Nesnas, Issa A. D. and Chinchali, Sandeep and Fuller, Christine and Zhou, Xuecheng (2010) Axel rover paddle wheel design, efficiency, and sinkage on deformable terrain. In: 2010 IEEE International Conference on Robotics and Automation. IEEE , Piscataway, NJ, pp. 2821-2827. ISBN 978-1-4244-5038-1.

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This paper presents the Axel robotic rover which has been designed to provide robust and flexible access to extreme extra-planetary terrains. Axel is a lightweight 2-wheeled vehicle that can access steep slopes and negotiate relatively large obstacles due to its actively managed tether and novel wheel design. This paper reviews the Axel system and focuses on its novel paddle wheel characteristics. We show that the paddle design has superior rock climbing ability. We also adapt basic terramechanics principles to estimate the sinkage of paddle wheels on loose sand. Experimental comparisons between the transport efficiency of mountain bike wheels and paddle wheels are summarized. Finally, we present an unfolding wheel prototype which allows Axel to be compacted for efficient transport.

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Additional Information:© 2010 IEEE. The work of this collaboration between Caltech and the Jet Propulsion Laboratory was performed at JPL under contract to the National Aeronautics and Space Administration. The authors sincerely appreciate the sponsorship of the Exploration Systems Mission Directorate and Solar Systems Exploration program: Dr. C. Moore, Dr. S. Khanna, Dr. T.Y. Yan, Dr. J. Cutts, and Dr. K. Reh. We also appreciate the support of Dr. S. Hayati, Dr. R. Volpe and Dr. G. Udomkesmalee of JPL.
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Record Number:CaltechAUTHORS:20190612-154312157
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Official Citation:P. Abad-Manterola, J. W. Burdick, I. A. D. Nesnas, S. Chinchali, C. Fuller and X. Zhou, "Axel rover paddle wheel design, efficiency, and sinkage on deformable terrain," 2010 IEEE International Conference on Robotics and Automation, Anchorage, AK, 2010, pp. 2821-2827. doi: 10.1109/ROBOT.2010.5509391
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:96350
Deposited By: Tony Diaz
Deposited On:13 Jun 2019 16:29
Last Modified:03 Oct 2019 21:21

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