Politeknik Dergisi 2147-9429 Gazi University 10.2339/politeknik.385545 Engineering Mühendislik Mars Gezgini Prototipi Merih-2 Mars Rover Prototype Merih-2 Balcı Barış Yıldırım Mehmet C. Bebek Özkan 12 01 2018 21 4 875 885 07 24 2017 Copyright © 1998, Journal of Polytechnic 1998 Journal of Polytechnic

Merih-2, Özyeğin Üniversitesi RoverTakımı tarafından University Rover Challenge 2016 ve European Rover Challenge2016’ya katılmak ve Mars koşullarında görev yapmak için tasarlanan gezgindir.Sürüş için Merih-2’nin 6 adet özel tasarım tekeri bulunmaktadır. Yüksek çekişiçin bütün tekerler elektrik motorlarıyla tahrik edilmiştir. Gezgininilerlerken yön değiştirmesi, ön ve arka tekerlerin beraber yönlerinindeğiştirilmesiyle mümkün kılınmıştır. Tekerlerden en az dördünün yere basmasınısağlayan bir Külbütör-Boji mekanizması ve bu mekanizmanın dengeleyicisi birdiferansiyel bulunmaktadır. Merih-2 ayrıca, çevredeki objelerin manipülasyonuiçin 4 serbestlik dereceli bir robot kola sahiptir. Bu robotik kola çokfonksiyonlu bir tutucu takılmış ve tornavida alma, şalterleri açma ve kapamagibi astronotlara yardım görevlerini yapması planlanmıştır. Bu makalede;Merih-2’nin tasarım ayrıntıları, üretilen prototipten elde edilen kazanımlar vegezginin operasyon ve yaşanan olumsuzlukları ortadan kaldırabilecek öneriler anlatılmaktadır.  

Merih-2 isdesigned to serve under the Mars conditions and to join the University RoverChallenge 2016 and the European Rover Challenge 2016 by the Özyeğin UniversityRover Team. For locomotion, the Merih-2 has 6 specially designed wheels. Allwheels are driven by electric motors for high traction. The steering of therover is provided by changing the directions of the front and rear wheelstogether. A Rocker-Bogie Mechanism that allows at least four wheels to keepground contact, and a differential that assumes the task of balancing thismechanism is used. Merih-2 also has a 4-degree-of-freedom robot arm formanipulating objects in the surroundings. This robotic arm is equipped with amultifunctional holder and is intended to assist astronauts in tasks such astool retrieval, turning on and off of switches. This article describes thedesign details of Merih-2 and the gains from the prototype produce. Moreover,the article focuses on the test results that are obtained at ERC 2016 anddiscusses the roadmap for a better prototype.

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