Jumping Robot as a Lunar Rover: Basic Technical Solutions

Abstract

Currently, the creation of new principles for the operation and movement of mobile robots, robotics is a fundamental task, extremely important and relevant, associated with robotics and digitalization at a fundamentally new level, corresponding to the concept of “Industry 4.0”. A subtask of this direction is also the development of the most effective ways of moving these robots. Under the conditions when the first lunar rover was created, the systems of automatic stabilization of equilibrium and motion control were not sufficiently developed, it was necessary to rely on maintaining the equilibrium of the lunar rover due to the advantages of its mechanical design. In these conditions, the wheel drive was optimal. The development of robotics, mechanics, electronics, automation, and computer technology has made it possible to turn to the most effective ways of moving over rough terrain in the absence of atmosphere, and with reduced gravity, these methods can be even more effective than wheel drives. A series of jumps is seen as the most effective way to travel in conditions where flight does not provide such opportunities due to the lack of atmosphere. Jumping allows many animals to save energy and move most quickly, efficiently, overcoming ravines, using the smallest opportunities for short-term support; jumping allows them to quickly and accurately move along the slopes of the mountains, through the rubble of large stones, along the windfall. With a fairly sharp and accurate impact with flat analogues of the soles, especially with low gravity, jumping can even allow robot to overcome ravines, screes, stone blockages. In terrestrial conditions, they are effective for overcoming water barriers, swamps, quicksand, and also, as some videos with animals show, they can allow robot to successfully move through avalanches. This paper sets the task of creating an effective jumping robot to study the surface of the moon and asteroids, as well as to study hard-to-reach areas on the Earth’s surface. An exotic design and basic principles for solving this problem are proposed