Design Optimization and Motion Dynamics of Mobility System for Planetary Rover

Undergraduate thesis at Department of Mechanical Engineering, IIT Bombay, India
August 2013 - April 2014
Advisor: Prof. Anirban Guha, IIT Bombay

• Evaluated and compared the performance of various mobility systems based on metrics like obstacle climbing capability, power consumption and effective ground pressure
• Developed a physics based motion dynamics simulation tool in MATLAB, incorporating the forward dynamics of rocker bogie system, wheel-soil interaction mechanics and drive motor characteristics
• Analysed the effect of wheel dimensions on mobility performance of rocker bogie system and devised look-up tables for autonomous reconfiguration of wheel dimensions

Publication: A. Kshirsagar, A. Guha, “Design optimization of rocker bogie system and development of look-up table for reconfigurable wheels for a planetary rover”, International Journal of Vehicle Structures and Systems, 8.2:58-66, 2016 Link

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