RESULTS of ESA/ESTEC and VNII Transmash & RCL joint ACTIVITIES AIMED at PLANETARY ROVERS DEVELOPMENT

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1 In the proceedings of the 8th ESA Workshop on Advanced Space Technologies for Robotics and Automation 'ASTRA 2004' ESTEC, Noordwijk, The Netherlands, November 2-4, 2004 RESULTS of and VNII Transmash & joint ACTIVITIES AIMED at PLANETARY ROVERS DEVELOPMENT Mikhail Malenkov (1,2), Valery Gromov (2), Serguei Matrossov (1,2), Serguei Vladykin (1,2) (1) Kemurdjian Science & Technology Rover Centre () (2) J.-St. Co. Russian Mobile Vehicle Engineering Institute (VNIITRANSMASH) 2 Zarechnaja Street, , St. Petersburg (Russia) rover@peterlink.ru ; rcl@rcl.spb.su, INTRODUCTION Since 1963 the Space Robotics Department of J.-St. Co. VNIITRANSMASH and then during last 12 years Kemurdjian Science & Technology Rover Centre () carried out works on development of locomotion systems for planetary rovers within the framework of Russian space programs [1,2]. Starting from the «perestroika» time in Russia, J.-St. Co. VNIITRANSMASH and Kemurdjian Science & Technology Rover Centre performed the development of locomotion systems and devices in co-operation with Space Institutes of Germany, Finland, France and also with the European Space Agency () [3,4]. In the present paper a summary and results of 13 joint projects performed by & for are considered. 1

2 List of the projects performed by & VNIITRANSMASH for Project Period & ESA s Program Customer & Subcontractor Deliveries 1 Development of micro rover IDD MARSNET MPI fur Chemie Micro rover IDD-1 with three section 2 Development of micro rover IDD-2 with the track locomotion system MARSNET MPI fur Chemie Track micro rover IDD-2 with three section 3 Development of Locomotion Concepts Analysis for Moon Exploration (LUMOT) LEDA RST/GYROOPTICS Engineering report 4 Mobile Penetrometer ROZETTA DLR 2 experimental models of mobile penetrometers 5 Development of manipulator with 5 DOF ("RRP" Moon Rover manipulator mock-up) LEDA VITROCISET Moon Rover manipulator mock-up 6 Development of Moon Rover mock-up (LRMC) LEDA Actron LRMC demonstrator 2

3 7 Development of micro Rover for Science Application (RoSA-2) SSF/VTT/HUT Tracked micro rover RoSA-2 8 Engineering Support activities for the CDF study 2002 ExoMars09 VITROCISET Engineering consultancy 9 Development of locomotion system of ExoMaDeR model ExoMars09 ExoMaDeR locomotion system 10 Mobile Penetrometer Mars-Express DLR Experimental, qualification and flight models of mobile penetrometers 11 Development of wheels for SOLERO model ExoMars09 6 wheels for SOLERO model 12 Development of motor-wheels with special gears for ExoMaDeR locomotion system ExoMars09 6 motors-wheels with special gears for ExoMaDeR locomotion system 13 Engineering Support on Rover Locomotion ( ESROL-A ) for ExoMars Rover Phase A ExoMars09 9 Engineering reports 3

MICRO ROVERS IDD-1 & IDD-2 The co-operation was started in 1993-1994 when in the frame of ESA s project MARSNET two micro rovers (the rover with three sections IDD-1 and the tracked

Kemurdjian, V.Gromov, V.Kucherenko and A.Vorobjev) and the Max Plank Institute for Chemistry,Germany (R.Rider,Wenke) for the MARSNET project.

The extreme modules are equipped with tracks that are driven by means of special drives. The track is an endless metal belt with grousers. - travel speed up to 0.94 m/s - mass, kg 1.

4 MICRO ROVERS IDD-1 & IDD-2 The co-operation was started in when in the frame of ESA s project MARSNET two micro rovers (the rover with three sections IDD-1 and the tracked rover IDD-2 [5]) were developed. Fig.1 shows the demonstrational prototypes of the Instrument Deployment Devices IDD-1 and IDD-2 that were developed jointly by VNIITRANSMASH (A.Kemurdjian, V.Gromov, V.Kucherenko and A.Vorobjev) and the Max Plank Institute for Chemistry,Germany (R.Rider,Wenke) for the MARSNET project. The micro rover consists of three modules connected with each other with levers having drives in each module. The extreme modules are equipped with tracks that are driven by means of special drives. The track is an endless metal belt with grousers. - travel speed up to 0.94 m/s - mass, kg overall dimensions, mm 200 x 200 x x50 - Surmountable obstacles: - friable sole slope, degr slope with a carpet path, degr. up to 65 - step height, mm up to trench width, mm up to 300 Fig. 1. Instrument Deployment Devices (from left to right): IDD-1, IDD-2, Family picture with Nanokhods at far right 4

LUMOT The study Locomotion Concepts Analysis for Moon Exploration LUMOT was performed under the umbrella of ESA s preparation activities for possible European / International Programme (Project ESA s

LUMOT was jointly project with companies Raumfahrt Systemtechnik AG, Switzerland ( H.Braun), J.S. Co. Gyrooptics, Russia ( I.Popova, Y.Vlasov) and (M.Malenkov, S.Fedosseev and P.Sologub) [ 6 ].

5 LUMOT The study Locomotion Concepts Analysis for Moon Exploration LUMOT was performed under the umbrella of ESA s preparation activities for possible European / International Programme (Project ESA s leader - P.Putz). The general objectives of the LUMOT study were to gain experience from Russian specialists having worked more than 20 years on locomotion system for planetary Rovers. LUMOT was jointly project with companies Raumfahrt Systemtechnik AG, Switzerland ( H.Braun), J.S. Co. Gyrooptics, Russia ( I.Popova, Y.Vlasov) and (M.Malenkov, S.Fedosseev and P.Sologub) [ 6 ]. The LUMOT study was performed by European Russian team of engineers putting together a document reflecting both, the practical experience and the basic of Russian planetary Rover chassis technology. It provides an overview on Rover chassis developments with special relevance for a future lunar mission. It describes the Russian trafficability theory and the Russian practice to apply this theory in developments. LRMC DEMONCTRATOR and RRP Moon Rover manipulator prototype Further steps of (M.Malenkov, A.Bogachev, V.Kucherenko and Vladykin), assisted by and Actron Co.Ltd (A.Konkolovich and S.Matrossov) (both small companies have been founded by engineers and scientists of ) in the co-operation with were 2 projects ( ESA s leaders - P.Putz, A.Martin Alvarez, M. Van Winnendaeil,G. Visentin ) development and delivery to of the RRP manipulator with 5 DOF and the demonstrator of locomotion platform LRMC for the LEDA project (Fig 2,3) [ 7, 8 ]. LRMC is an element of the Lunar Utilisation Testbed at ESTEC. It is consist of a simple rover chassis (locomotion platform and power supply) and essential other subsystems for control and communication. Purpose of RRP Moon Rover manipulator prototype is the debugging of interaction of scientific devices and tools with surface investigated as well as control algorithms. Composition: manipulator, plate with mock-ups of scientific devices and tools, control block. LRMC demonstrator Wheel arrangement is 4x4. Wheels are steered with individual drives. The wheel gearmotors by "Maxon". Mass (including two automobile storage batteries)/ Payload mass, kg 120 / 60 Overall dimensions, mm 1200x900x525 Maximum travel speed, km/h 0,38. RRP manipulator prototype 5 DOF lightweight design with special drives Fig. 2. LRMC demonstrator Number of degrees of freedom 5 Mass / Load-carrying capacity, kg 5 / 1.5 Maximum arm extent, m 0,8 Positioning accuracy, mm ± 5 Power consumption, W 2.3 Fig. 3. RRP Moon Rover manipulator prototype 5

4,5) [9]. ESA s project leader - G. Visentin.

6 MICRO ROVER RoSA-2 The micro rover IDD-1,-2 ( Fig.1 )was a prototype for creating the micro robot RoSa-2 ( Micro robot for scientific applications 2 ) within the framework of the ESA s Technological Research and Development program ( ) (Fig.4,5) [9]. ESA s project leader - G. Visentin. Objective of the Work: Development of a mobile drilling and sampling system that comprises a rover, a drill, sample storage, and docking and sample delivery port mounted on a Lander module. The locomotion system developed and built by (Designers: V.Kucherenko, A.Bogatchev, S.Vladykin, Project Manager - S.Matrossov) under contract with ESA is intended to transport a payload as well as to move the drilling unit (the part of the payload), which was developed by Helsinki University of Technology HUT (prof. A.Halme, J.Suomela, J.Saaren ) in co-operation with Space systems Finland (M. Antilla) and VTT Automation (T.Ylikorpi). - Maximum speed on the horizontal surface, m/h 60 - Mass of the chassis/payload mass, kg 5/7 - Overall dimensions in stowed position, mm 400 x 400 x110 - Max surmountable slope, degr Max surmountable step height, mm 60 Fig 4. Micro robot RoSa-2 Fig 5. Micro robot RoSa-2 with Doc Station in 6

EXO MARS 2009 In the period starting from 2002 and up till now (2004), -subsidiary company of (Designers: V.Kucherenko, A.Bogatchev, S.Vladykin, s Project Manager - S.

7 EXO MARS 2009 In the period starting from 2002 and up till now (2004), -subsidiary company of (Designers: V.Kucherenko, A.Bogatchev, S.Vladykin, s Project Manager - S.Matrossov) has fulfilled 5 projects for ( ESA s project leader - M. Van Winnendael ): * Engineering Support activities for the ExoMars09 CDF study [ 10 ], * ExoMaDeR locomotion platform model for ExoMars Rover [ 11 ] (Fig.6), Mass & payload, kg 10/5 Max locomotion velocity with 5 kg payload, m/s 0,1 Surmountable obstacles: Step, m 0,15 hard surface slope, degr. 20 loose soil slope, degr Fig. 6. Fragments of the obstacle overcoming by ExoMaDeR model at ESTEC test range. 7

* Motor-wheels with special gears for ExoMaDeR model (Fig. 7) * Wheels for SOLERO model (Fig. 8). Fig 7.

Wheels for SOLERO model * ESROL-A project (since 2003 a contract No.

8 * Motor-wheels with special gears for ExoMaDeR model (Fig. 7) * Wheels for SOLERO model (Fig. 8). Fig 7. Motor-wheels with special gears for ExoMaDeR model Fig 8. Wheels for SOLERO model * ESROL-A project (since 2003 a contract No.17211/03/NL/AG with on the project Engineering Support on Rover Locomotion phase A in the frame of ExoMars2009 mission is under way). The overall objective of the works is to provide ESA with technical engineering support, consisting of engineering solutions and analysis as well as expert consultancy work, on rover locomotion aspects and rover chassis design for the ExoMars rover, which ESA intends to use in support of the study work performed on the subject of this rover by other industrial teams [11,12]. 8

MOBILE PENETROMETERS Mobile penetrometer for Rosetta (V.Gromov, ) was created under contract with DLR, Germany (H.Kochan,DLR and ESA s project leader P. Coste).

9 MOBILE PENETROMETERS Mobile penetrometer for Rosetta (V.Gromov, ) was created under contract with DLR, Germany (H.Kochan,DLR and ESA s project leader P. Coste). The small penetrometer was supposed to be used for study of comet surface ("Rosetta" ESA project ) [13]. Miniature electric drives of "Faulhaber Motoren" firm was used (they were adapted for space operation at VNIITRANSMASH). Mars-Express mobile penetrometer (V.Gromov, ) was created under next contract with DLR, Germany (L.Richter, DLR, ESA s project leader P. Coste) for Mars- Express ESA project ( ). During the cooperation with DLR and ESA 10 mobile penetrometers were developed (including experimental, qualification and flight models) (Fig. 9) [14]. Mass, kg 0.4 Length, mm 325 Diameter, mm 19 Penetration speed into sand, mm per impact 2 Operation temperature range, C Fig. 9. Mobile Penetrometrs on the BEAGLE-2 CONCLUSIONS 1. Scientific and engineering cooperation of the companies/agencies from ESA member countries with and is already ten-years old and successfully continues at the present time. This cooperation is mutually useful for all partners. 2. The major directions of the cooperation are the researches and developments in the area of planetary rovers and their on-board mechanisms/sub-systems. The results of the cooperation are the prototypes, demonstrators and physical models of the mobile planetary devices and rovers. The cooperation is performed in effective and economical way. 3. An analysis of the joint researches and developments allows to trace the evolution of the vision of the Russian and European engineers on the design aspects of the planetary rover locomotion systems and to define optimal technical solutions. 9

10 REFERENCES [1] Planetokhodi (Planetary rovers). Edited by A.L. Kemurdjian. 2 nd revised and added edition. Mashinostroenie, Moscow,1993 (in Russian). [2] A. Kemurjian. From Moon rover to Mars rover. The Planetary Report. Vol. X, No.4. July/August, 1990 [3] Bogatchev A, Gromov V., Kucherenko V., Matrossov S, Malenkov, S. Fedoseev, et al. Some details of the development of mobile platforms. Proceedings of the international conference on field and service robotics. Canberra, Australia, 8-10 December, [4] V. Gromov, A. Kemurdjian, A. Bogatchev, V. Koutcherenko, M. Malenkov, S. Matrossov, S. Vladykin, V. Petriga, Yu. Khakhanov Lunokhod 2 a retrospective glance after 30 years. EGS Simposium, Nice,France, April 2003 [5] A.Bogatchev, V.Koutcherenko, M.Malenkov, S.Matrossov. Development of track locomotion systems for planetary mobile robots.symposium Telematics and Automatics for robotics, HUT, Espoo, The Finland, June 21-23, [6] RST s Final report LUMOT- Locomotion Concepts Analysis for Moon Exploration by Contract No: [7] P.Putz,A.Martin Alvarez, M. Van Winnendael,G. Visentin. Lunar Rover Muckup Chassis Requirements Document.,31 October 1996 [8] M.Malenkov, P.Putz. Planet Rover Manipulator for Investigation of Moon s and Planet Surfaces 4th ESA workshop on advanced space technologies for robot Applications ASTRA 96,. Noordwijk, The Netherlands, November 6-7, [9] A. Bogatchev, V. Kutcherenko, S. Matrossov, S. Vladykin, V. Petriga, A. Halme, J. Suomela, I. Leppanen, S. Yionen., S. Salme. Joint & HUT developments for mobile robot locomotion systems during th ESA workshop on advanced space technologies for robotics and automation,. Noordwijk, The Netherlands, November 19-21, [10] ExoMars09 ESA СDF Study Report, Ref. CDF-14(A), Aug.2002 [11] s report Preliminary Adaptations of Original Concept by Contract No: 17211/03/NL/AG [12] Van Winnendael, Statement of Work - Engineering Support on Rover Locomotion for ExoMars Rover Phase A., 28 April 2003 [13] V.Gromov, A. Mischkevich, E. Yudkin, H.Kochan, P. Coste, E.Re. The mobile penetrometer, a mole for surface investigation. Proceedings of 7 th European Space mechanisms and Tribology Simposium. 1-3 October 1997, ESTEC, Noordwijik, The Netherlands. [14] H.Kochan, H.Hamacher, L.Richter, L.Hirschmann, S.Assanelli, R.Nadalini, Stefano pinna, V.Gromov, S. Matrossov, E. Yudkin, P. Coste, C.Pilinger, M.Sims and T.C.NG The mobile penetrometer (mole): a tool for planetary su-surface investigation, Proceedings of the Inte3rnational Workshop Penetrometry in the Solar System,18-20 October, 1999, Graz, Austria. 10

Chassis Concepts for the ExoMars Rover

In Proceedings of the 8th ESA Workshop on Advanced Space Technologies for Robotics and Automation 'ASTRA 2004' ESTEC, Noordwijk, The Netherlands, November 2-4, 2004 Chassis Concepts for the ExoMars Rover