Design of Spider Mechanism for Extraterrestrial Rover

This paper relates to a mechanism that involves enabling the arms of a rover to traverse up steps / rocks and still be able to take the shocks of uneven or rough terrain. The primary use of the mechanism discussed in this paper is to allow extraterrestrial rovers to climb high stepped terrain and have a suspension system in place to provide restoring force for the arms to come down and provide traction for the wheels over the ground. Such a mechanism allows the rover to travel uncharted and unexplored terrain.