Rover Chassis Evaluation and Design Optimisation Using the Rcet

A set of tools was developed in the frame of ESA activity [18191/04/NL] labelled RCET (Mars Rover Chassis Evaluation Tools) to support design, selection and optimisation of space exploration rovers. This activity was carried out jointly by Contraves Space as prime contractor, ETHZ, DLR, SSC and EADS Space Transportation. This paper describes the utilisation of the RCET in the context of a rover mission on Mars. The evaluation of the NASA MER and RCL-E rover chassis was done and the results are presented. This study includes wheel design optimisation on a particular soil, simulation of rover suspensions and rover comparison based on normalisation rules. With the experience gained in this study, a strategy for predicting locomotion performances was developed that allows an optimisation of both chassis configuration and motion control. The facilities and methodology used in the frame of this activity for validating the tools is also briefly presented.