Cube Rover: Fall 2018 Mobile Robot Development (16-861)
I was a part of the Wheels sub-team for an Astrobotic and Carnegie Mellon University collaboration project that will send a rover to the moon in 2020.
During the Fall semester, the team was largely focused on testing the effects of wheel width, wheel radius, and grouser height in order to determine the driveline configuration of the rover.
An other focus was wheel design. We looked into various materials, such as carbon fiber and aluminum mesh, and focused on a “bottle cap” design to see if this wheel design mimicked a suspension.
We ran various tests to see the effects of slippage and the ability to go over varying obstacle heights with each wheel.