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The document proposes the design of a lunar rover for the Chandrayaan 2 mission to map the surface of the moon. It discusses 10 subsystems that would need to be designed for the rover: 1) structure, 2) drive system, 3) control system, 4) sensor system for navigation, 5) communication system, 6) thermal system, 7) power system, 8) lander interface, 9) arm manipulator, and 10) rover operations. Key challenges mentioned include the lunar gravity, extreme temperatures, difficult terrain, and time lag for controlling the rover from Earth. IIT Kanpur's strengths in areas like vision-based navigation, robot design, and thermal management could help address several of these challenges.

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Praveen Kumar
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421 views23 pages

Presentation 1

The document proposes the design of a lunar rover for the Chandrayaan 2 mission to map the surface of the moon. It discusses 10 subsystems that would need to be designed for the rover: 1) structure, 2) drive system, 3) control system, 4) sensor system for navigation, 5) communication system, 6) thermal system, 7) power system, 8) lander interface, 9) arm manipulator, and 10) rover operations. Key challenges mentioned include the lunar gravity, extreme temperatures, difficult terrain, and time lag for controlling the rover from Earth. IIT Kanpur's strengths in areas like vision-based navigation, robot design, and thermal management could help address several of these challenges.

Uploaded by

Praveen Kumar
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PPT, PDF, TXT or read online on Scribd
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( *** for private circulation only)

LUNAR ROVER

Concept proposal meeting

Dr. Ashish Dutta

Indian Institute of Technology Kanpur


Kanpur, INDIA
Chandrayan 1: mapping the moon

Chandrayan 2: landing a mobile robot for


experiments on moon
1. Introduction: Chandrayan 2
PSLV-Lander-Rover

LANDER ROVER
Lunar surface :dust, rocks, ash,
craters,
Rocks, craters
Many Challenges
• Lunar gravity
• Cosmic radiation
• Extreme temperature -180 to 220 C
• Difficult terrain : dust, craters, rocks
• Time lag in control 2 secs
• Flying dust, clouds cameras
• Communication with earth
DIFFERENT SUB-SYSTEMS INVOLVED IN
THE COMPLETE DESIGN
1. Rover structure

• Structural design (frame)


• Materials for construction
• Wheels & Legs? How many wheels?
• Electronics enclosure and insulation
• Vibration suppression
• Position of arm, cameras
2. Drive system

• Motors (DC brush less )


• Sensors (position, acceleration?)
• Leg/wheel mechanism
• Steering motor system: located at
wheel base
• Tyres : rubber , Ti wire based
3. Control System

• Motor controllers – PID ?


• Processor requirements
• I/O considerations
• Memory Considerations
• Power requirements.
• Central controller.
4. Sensor System for Navigation
• Vision based navigation
• Path planning
• Obstacle detection (laser, ultrasonic )
• Self localization based on Lander
coordinates
5. Communication System
– Antenna Design
– Transceiver

6. Thermal System
– Passive thermal system.
– Active thermal System.

7. Power system
– Solar batteries.
– Recharging and monitoring.
– Power regulation.
– Batteries: Nickel-Cd, Silver-Zn ?
8. Lander interface
– Mechanical interface (to hold rover in position)
– Electrical interface.

9. Arm Manipulator
– DOF (5 DOF ?)
– Requirements (Cleaning solar panels,
digging, etc.)
– Structure
10. Rover Operations
– Start up procedures
– Motor and arm initialization procedures
– Rover deployments
– Robot arm cleaning
– Sample collecting + testing

11. Failure diagnostics and recovery


– Possible modes of failure
– Recovery
– Back up
Main focus based on our
strengths in IITK
• Robot design and vision based control
• Vision based control of rover
• Coordinated wheel control with slip
• Vision based navigation
• Thermal management using
– heat pipes
IITK WORK SCHEDULE
• Design of rover with robot arm and its
fabrication.
• Multi wheel coordination control with active
slip compensation
• Visual map generation of lunar surface and
navigation.
• Visual control of arm and rover.
• Development of test set up at IITK.
• Development of a virtual reality simulation of
rover and lunar terrain.
• Experimental evaluation of developed rover
Future directions
• Possible route for developing indigenous
strength in this area.

• Design of advanced future rovers.


- Legged vehicles.
- Hybrid : leg and wheels based rovers.
Strengths of IIT Kanpur
• Vision based navigation and robot control.

• Hardware development.

• Large number of systems developed : both


wheeled and legged.

• Computational aspects of robotics.

• Sensor development and integration.


Functional specifications from VSSC

1. MOBILE ROBOT
STRUCTURE: ACCEPTABILITY / TESTING
a. kinematic alternatives simulation
b. minimum clearance test bed with obstacles
c. wheel assembly unit:
* traction, control, payload wheel assembly test bed
* steering accuracy test under load
d. control system response measurement
e. power budget subunits / total power testing
f. solar panels: deployment+cleaning
e. payload / stability ramped terrain

2. VISION-BASED NAVIGATION:
a. design validation simulation
b. path planning testing ground truth comparison
c. terrestrial testing trajectory measurement test bed
d. accuracy / reliability repeated path point testing
e. contingency / recovery
Further testing at VSSC
– Level 2 : integrated functional testing /
terrestrial robustness

– Level 3 : thermal testing / radiation test

– Level 4 : fully space qualified system


Thank you

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