Parametric study of spherical rovers crossing a valley

Abstract

This paper has presented parametric studies illustrating how spherical rovers maneuver across shallow and deep valleys and uses these studies to outline a design method for creating tumbleweed rovers to match various terrain challenges. The paper demonstrates how a researcher can identify a collection of design parameter values satisfying specific mission conditions, thereby aiding in the initial design of the rover. We have shown how the parametric studies can be used to determine the range of e values (coefficient of elasticity) which will result in mission success, thus aiding in the selection of appropriate materials early in the design process.