MECHANICAL DESIGN OF A HOPPER ROBOT FOR PLANETARY EXPLORATION

The Canadian Space Agency is investigating technologies for lowering the cost of planetary exploration missions through miniaturization of landed platforms. Such a change of paradigm could enable a revolution similar to that which has shaken the satellite business with the advent of small satellites and micro satellites. Such spacecrafts now provide space mission opportunities with price tags several orders of magnitude below classical satellites. One of the consequences of miniaturization is that traditional locomotion schemes such as wheels are not appropriate any more. To a small rover, even the very small obstacles become insurmountable. Alternate locomotion schemes must then be investigated to overcome this problem and enable miniaturized missions. Another consequence of miniaturization is that electric energy obtained through solar panels becomes very scarce. In light of these constraints, a hopping robot for Mars exploration is being designed and prototyped. This robot uses diurnal variations of temperature at Mars’ surface as a source of power. The hopping mechanism is based on a novel cylindrical scissor mechanism. This paper presents the results of trade study on miniaturization of Mars landers, introduces the main requirements to be met by such a system and describes the concept of operation of the hopping robot. The design of the main components of the hopping mechanism is described in detail.