Mars Gezgini Prototipi Merih-2

Year 2018, , 875 - 885, 01.12.2018

Barış Balcı Mehmet C. Yıldırım Özkan Bebek

https://doi.org/10.2339/politeknik.385545

Abstract

Merih-2, Özyeğin Üniversitesi Rover
Takımı tarafından University Rover Challenge 2016 ve European Rover Challenge
2016’ya katılmak ve Mars koşullarında görev yapmak için tasarlanan gezgindir.
Sürüş için Merih-2’nin 6 adet özel tasarım tekeri bulunmaktadır. Yüksek çekiş
için bütün tekerler elektrik motorlarıyla tahrik edilmiştir. Gezginin
ilerlerken yön değiştirmesi, ön ve arka tekerlerin beraber yönlerinin
değiştirilmesiyle mümkün kılınmıştır. Tekerlerden en az dördünün yere basmasını
sağlayan bir Külbütör-Boji mekanizması ve bu mekanizmanın dengeleyicisi bir
diferansiyel bulunmaktadır. Merih-2 ayrıca, çevredeki objelerin manipülasyonu
için 4 serbestlik dereceli bir robot kola sahiptir. Bu robotik kola çok
fonksiyonlu bir tutucu takılmış ve tornavida alma, şalterleri açma ve kapama
gibi astronotlara yardım görevlerini yapması planlanmıştır. Bu makalede;
Merih-2’nin tasarım ayrıntıları, üretilen prototipten elde edilen kazanımlar ve
gezginin operasyon ve yaşanan olumsuzlukları ortadan kaldırabilecek öneriler anlatılmaktadır.  

Keywords

Gezegen gezginleri, kara robotları, robot mekanik tasarımı

Mars Rover Prototype Merih-2

Abstract

Merih-2 is
designed to serve under the Mars conditions and to join the University Rover
Challenge 2016 and the European Rover Challenge 2016 by the Özyeğin University
Rover Team. For locomotion, the Merih-2 has 6 specially designed wheels. All
wheels are driven by electric motors for high traction. The steering of the
rover is provided by changing the directions of the front and rear wheels
together. A Rocker-Bogie Mechanism that allows at least four wheels to keep
ground contact, and a differential that assumes the task of balancing this
mechanism is used. Merih-2 also has a 4-degree-of-freedom robot arm for
manipulating objects in the surroundings. This robotic arm is equipped with a
multifunctional holder and is intended to assist astronauts in tasks such as
tool retrieval, turning on and off of switches. This article describes the
design 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 and
discusses the roadmap for a better prototype.

Keywords

Planetary rovers, field robots, mechanical robot design

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