The Robotic All-Terrain Lunar Exploration Rover (RATLER): Increased mobility through simplicity

A new concept mobility chassis for a robotic rover is described which is inherently simple with few moving parts or complex linkages. The RATLER design utilizes a four-wheel drive, skid steered propulsion system in conjunction with passive articulation of the dual body vehicle. This uniquely simple method of chassis articulation allows all four wheels to remain in contact with the ground even while climbing obstacles as large as 1.3 wheel diameters. A prototype mobility platform was built which is approximately 1 m(sup 2) with 0.5 m diameter wheels and all-wheel electric drive. The theoretical mobility limitations are discussed and compared with the results of field trials of the prototype platform. The theoretical model contrasted with measured performance is then used to predict the expected mobility of the RATLER design on the Lunar surface.