Tensegrital wheel for enhanced planetary surface mobility: Part 1 – Design and evolution. (April 2022)

• Record Type: Journal Article
• Authors: Crowther, Georgia; Apostolopoulos, Dimitrios (Dimi); Heys, Stuart
• Is Part Of: Journal of terramechanics. Volume 100(2022)
• Page Start: 11
• Page End: 24
• Publication Date: 2022-04
• Subjects: Tensegrity -- Planetary mobility -- Rovers -- Wheel design -- NASA; Trafficability -- Periodicals; Praticabilité (Routes) -- Périodiques; Trafficability; Periodicals; 629.222
• DOI: 10.1016/j.jterra.2021.11.008
• Languages: English
• ISSNs: 0022-4898

Abstract

Highlights: Tensegrital wheels built of space-qualified materials can diffuse loads like tires. Maintaining a class 1 tensegrity design is critical to reap benefits of tensegrity. Discrete wheel designs offer high redundancy and opportunities for internal sensing. Tensegrity systems should be designed holistically for best outcomes. Abstract: This paper follows ProtoInnovations' development of a line of novel wheel concepts built with tensegrity principles for planetary mobility. The goal of these tensegrital wheels for enhanced planetary surface mobility is to exploit the geometric and mechanical attributes of tensegrity to mimic the compliant and load-distributing properties of a pneumatic tire using space-qualified methods and materials. In this paper we present our tensegrity design process and the evolution of our tensegrital wheel concepts. We conclude with an exploration of the tensegrital wheel's potential with regards to planetary exploration applications and summarize considerations and improvements for future tensegrital wheel research.